I think the answer is rather complex and may well never be known for the only person who really knows is Robert E Lee.
However some things can be said.
First he had a really good day on Day One. Victory looks to be within his grasp. Maybe it is chimerical but it certainly looks like he had a chance to destroy the Union army. Indeed as Day Two dawns it looks like he still has that opportunity for what scouting reports he has suggest that the Union left flank is in the air (See the various threads on the subject such as
https://civilwartalk.com/threads/i-dont-understand-lees-orders-for-day-2.148046/ - There are many more) That means he can perhaps repeat Chancellorsville, this time with his dependable old warhorse Longstreet in the role of Jackson.
Of course it doesnt turn out like that.
Second, I also think we have to remember that by inclination Lee was an aggressive General and I think Gettysburg is the price Lee ends up paying for something that has previously worked well for him.
Third, while he knows he is missing Stuart and his intelligence gathering ability what he can't expect is Longstreet's intransigence and the sub standard performance of a number of his subordinates.
Fourth, Lee may well not have been feeling very well. There is certainly some evidence to suggest that. Imagine trying to command so many people while under the weather.