The chapter closes with a door thrown wide open. This, Krishna says, is Brahmi Sthiti — the state of Brahman, the ground of all reality. Whoever reaches it is never deluded again. And even if this state is reached only at the last moment of life — at the very hour of death — Brahma-Nirvana is attained. Liberation is never too late.
That last detail carries extraordinary compassion. A lifetime of struggle, doubt, failure — and still, the door does not close. Even at the final breath, if this clarity dawns, it is enough. The journey of the entire chapter — from Arjuna's despair to the nature of the soul to selfless action to the portrait of the Sthitaprajna — arrives here, at an unconditional promise.
After a long journey, when the traveler finally sees home, all the weariness of the road dissolves. This shloka is that moment for Chapter 2. The road was long — grief, philosophy, duty, discipline — but it leads to Brahma-Nirvana, and the door is open to everyone, always.