Verse 5.19

इहैव तैर्जितः सर्गो येषां साम्ये स्थितं मनः। निर्दोषं हि समं ब्रह्म तस्माद्ब्रह्मणि ते स्थिताः।।5.19।।

ihaiva tair jitaḥ sargo yeṣhāṁ sāmye sthitaṁ manaḥ nirdoṣhaṁ hi samaṁ brahma tasmād brahmaṇi te sthitāḥ

Meaning

Even in this world, those who are all about that real, real, *real* are totally beyond the birth thing. Brahman is, like, the ultimate pure and real. So, they're straight-up established in Brahman.

Commentary

Yo, when your mind's chillin' in that ultimate reality vibe, you transcend the whole birth-death cycle. It's like, total freedom from the drama. When your mind's all balanced and stuff, you're straight-up one with Brahman. Brahman's, like, totally pure and flawless, no cap. It doesn't matter where it's at – even if it's vibin' with a total outcast – it's still flawless. It's all one, you know? It's in everything.