How does the concept of 'Avidya' or ignorance contribute to fear and the cycle of birth and death?

According to the teachings in Chapter 37, ignorance, or 'Avidya', is the root cause of all suffering and fear. Avidya is what establishes the perception of manifoldness and duality, making us see ourselves as separate from the divine and the world around us. The text explicitly states, 'Where there is an obsession with duality, there fear enters.' This ignorance, which focuses on the pleasant ('Preyas') rather than the ultimate good ('Shreyas'), perpetuates the cycle of birth and death. To break free, one must acquire knowledge ('Vidya') through the scriptures and the Guru, which eradicates the sense of difference and leads to the fearless, non-dual state of liberation.