Yeah, imagine a 2D graph with axes going from legal to illegal, and legitimate to illegitimate.
Some things are legal although they are illegitimate (like ‘Destroying the planet’), and others are illegal although they are legitimate (like some forms of civil disobedience or sabotage).
In an ideal world the two are aligned, but ours is not ideal. Also worth noting legal-illegal is rather objective, while legitimate-illegitimate is rather subjective.
I found Thoreau interesting on the topic, who commented being jailed for withholding taxes to not support the war: “The bars are meant to separate bad from good people”.