According to Chapter 16, what is the Sadguru's true nature and why has he taken a physical form?

Chapter 16 of the Sai Satcharitra portrays the Sadguru's true nature as transcendent and absolute. He is hailed as the "Stainless (Niranjana), the Imperishable (Avyaya), the One beyond attributes (Gunatita), the King of Yogis." Despite this formless, supreme state, the chapter explicitly states the reason for his physical incarnation: "You have taken this body for the sake of helping others, to uplift the poor and lowly." To accomplish this, he metaphorically dons a "cloak of ignorance" to impart knowledge to the ignorant in a gentle and accessible manner. As described in Chapter 16, his purpose is purely compassionate, aimed at guiding and elevating humanity.