well, you did it, you asked the atheists ⚛

The "void" you're talking about frankly doesn't exist. It's your thoughts which are previously conditioned to feel a certain way when you praise/worship him.

Long story short, this feeling likely stems from being passionate about something, or the lack of practicing (physically attending church, praising, etc.)

I suggest try doing something that makes you feel good which would be totally acceptable to the religion in question. Donating time to a community nonprofit, assisting or feeding the homeless. Bringing joy to the ones you love. Cooking! You get the picture.

Community and morality are indeed innately human. You don't need God to be a good person. Experiencing these things without the presence of God may fill that void you speak of.