What does Chapter 37 say is the fundamental cause of being trapped in the cycle of rebirth, and what is the way out?

According to the philosophy in Chapter 37, the fundamental cause of being trapped in the eternal cycle of worldly existence (Samsara) is ignorance, which creates a false sense of separation. This delusion is the belief that 'Parabrahman is different from me; I am not that.' The text states that whoever holds this knowledge of difference is always subject to death and rebirth. The way out is therefore implied in overcoming this delusion. The chapter suggests that by offering every action performed in this fleeting life to God, a person can attain the 'place of fearlessness,' a crucial step toward realizing the oneness of the Self and Brahman and breaking free from the cycle.