B.G 7.29, 30

जरामरणमोक्षाय मामाश्रित्य यतन्ति ये। ते ब्रह्म तद्विदुः कृत्स्नमध्यात्मं कर्म चाखिलम् ॥२९॥

jarāmaraṇamokṣāya māmāśritya yatanti ye। te brahma tadviduḥ kr̥tsnamadhyātmaṁ karma cākhilam ॥29॥

Those who, striving for liberation from old age and death, take refuge in Me, they come to know the Absolute Reality (Brahman), the entire science of the Self (Adhyātma), and all actions (Karma) in their entirety.

साधिभूताधिदैवं मां साधियज्ञं च ये विदुः। प्रयाणकालेऽपि च मां ते विदुर्युक्तचेतसः ॥३०॥

sādhibhūtādhidaivaṁ māṁ sādhiyajñaṁ ca ye viduḥ। prayāṇakāle'pi ca māṁ te viduryuktacetasaḥ ॥30॥

Those who know Me as the principle underlying all material existence (Adhibhūta), the divine aspects (Adhidaivam), and as the essence of all sacrifices (Adhiyajña), they, with steadfast minds, also know Me even at the time of death.

Gīta Bhāshya 7.29, 30

Liberation is not prescribed but is praised, as it is better than other material goals. The ultimate goal is to develop the undivided devotion to the Supreme.

The phrase 'for liberation from old age and death' (jarāmaraṇamokṣāya) does not indicate a rule or injunction (that one should work only towards liberation), but instead conveys either the removal of all other desires (anyakāmanivr̥ttyartham) or is a glorification of inquisitiveness towards liberation.

"Among those desiring liberation and those not desiring liberation, the best is indeed the one who possesses undivided devotion to the Supreme."

- thus, praised in the Nāradīya Purāṇa.

"(Liberation) Is not the ultimate end."

- stated thus as well.

"Those in the mode of goodness (devas) adopt actions which are inherently aligned to their natural qualities and distinguishing marks. Having a single-minded inclination to mode of goodness is natural to them. This devotion towards the Supreme Lord, which is without cause, is superior to liberation. Just as fire quickly consumes the fuel it swallows, so too does such devotion destroy the material body and its attachments."

- such are the characteristics stated in the Bhāgavata Purāṇa.

It is also declared:

"All the Vedas are for the purpose of serving the gods, and the gods themselves exist for the purpose of serving Lord Nārāyaṇa. Liberation exists for the attainment of Lord Nārāyaṇa, and liberation is not desired for any other purpose. Thus, for intermediate devotees and even for those who are single-minded, Lord Nārāyaṇa is the ultimate end. Everything else exists as an auxiliary purpose to Him."

- stated thus in the Gītā Kalpa testimonial.

The expression 'te brahma tadviduḥu' is meant to convey they alone are really knowledgeable.

"Whom the Supreme Being chooses He alone."

- thus states Vedic testimonial.

Thus concludes the seventh chapter in the commentary on the Bhagavad Gītā, composed by the glorious revered Ānanda Tīrtha Bhagavatpāda Ācārya

॥ ओं तत्सदिति श्रीमद्भगवद्गीतासु उपनिषत्सु ब्रह्मविद्यायां योगशास्त्रे श्रीकृष्णार्जुनसंवादे ज्ञानविज्ञानयोगो नाम सप्तमोध्यायः ॥

॥ oṁ tatsaditi śrīmadbhagavadgītāsu upaniṣatsu brahmavidyāyāṁ yogaśāstre śrīkr̥ṣṇārjunasaṁvāde jñānavijñānayogo nāma saptamodhyāyaḥ ॥

Om, thus ends the seventh chapter of the Bhagavad Gita, which is part of the Upanishads and the Yoga Shastra, in the dialogue between Sri Krishna and Arjuna, known as the 'Jñāna Vijñāna Yogo', in the study of Brahma Vidya (knowledge of the Absolute).