Keeping the Sabbath and Colossians 2:16

Colossians 2:16-17, 20-21 says, >16 So let no one judge you in food or in drink, or regarding a festival or a new moon or sabbaths, 17 which are a shadow of things to come, but the substance is of Christ. > >20 Therefore, if you died with Christ from the basic principles of the world, why, as though living in the world, do you subject yourselves to regulations—21 “Do not touch, do not taste, do not handle,” The New King James Version. (1982). (Col 2:20–21). Nashville: Thomas Nelson. That entire portion of the end of Colossians 2 talks about the danger of legalism and seems to discourage keeping things such as the Sabbath (at least keeping them legalistically). How do Seventh-Day Adventists and other denominations that keep the Sabbath interpret this passage?