Based on Chapter 37, what is the relationship between ignorance, the perception of duality, and the cycle of Samsara?

Chapter 37 presents a profound philosophical argument about the root cause of rebirth. It states that when a soul is deluded by ignorance, the one universal principle of Parabrahman appears to be different and separate. This gives rise to the perception of duality, where one thinks, "Parabrahman is different from me; I am not that." As explained in Chapter 37, this very knowledge of difference is what subjects an individual to the endless cycle of worldly existence, or Samsara. The text explicitly states that "Death follows birth, and rebirth follows death; this cycle of worldly existence turns eternally behind him" who holds this dualistic view. True freedom, therefore, is not in reaching a heaven of sensual pleasure but in transcending this ignorance.