According to Chapter 37, what causes the cycle of birth and death, and why does the text criticize the traditional desire for heaven?

Chapter 37 explains that the root cause of the cycle of birth and death (Samsara) is ignorance and the resulting sense of separation from the divine. The text states that a person who thinks, "Parabrahman is different from me; I am not that, I am something else," is always subject to death, and the cycle of worldly existence "turns eternally behind him." The chapter criticizes the desire for the traditional abode of heaven because it is often viewed as merely "a place for sensual enjoyment" attained through difficult sacrifices and penance. It argues that such a place is useless if it lacks the remembrance and chanting of the Lord's name, suggesting that true spiritual fulfillment is not found in heavenly pleasures but in devotion.