to act presumptuously: to knowingly step past a limit God or lawful authority has set, and to do it with contempt
This word does not name a mood. It names a move. Someone knows where the line has been drawn and crosses it anyway, on purpose and without apology. That is why Israel's law reaches for this verb when it needs to separate the person who stumbles into a wrong from the person who plans it and then does it.
The range holds together because the act always points the same direction, upward, against an authority higher than the offender. A man plotting a killing, a prophet delivering words he was never given, an empire grinding down the people God had claimed, Israel marching into the hills after being told to stay put: in every case someone treats a boundary as beneath him. Deuteronomy 1:43 makes the logic almost audible by setting the command and the crossing side by side, and by pairing this verb with the ordinary word for rebelling (מָרָה).
This is also why the word carries such weight in Israel's law. The sacrificial system had a remedy for wrong done by mistake. For wrong done this way it named no sacrifice at all, only being cut off from the people. The trouble was never the size of the offense but its posture: not a failure to keep the covenant, but a refusal of it. The noun for that posture is זָדוֹן, and the person who lives there is a זֵד.