Based on Chapter 37, what is the root cause of the cycle of birth and death (Samsara), and how does it relate to one's perception of Brahman?

Chapter 37 delves into the cause of the cycle of worldly existence, or Samsara. The text explains that this cycle of death and rebirth is perpetuated by a specific form of ignorance: the knowledge of difference. When a person believes, "Parabrahman is different from me; I am not that, I am something else," they become subject to this eternal cycle. This chapter posits that a single divine principle pervades everything. However, when this principle is combined with adjuncts (upadhis), a soul deluded by ignorance perceives separation from Brahman, which fuels the endless cycle of birth and death.