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That is a beautiful and precise summary of Swami Sarvapriyananda's explanation. He has a gift for making deep Advaita Vedanta concepts incredibly accessible.
By framing samsara not as a physical place we are trapped in, but as a psychological and existential error, it completely shifts the solution. If the problem were a physical trap, we would need to physically escape it. But since the problem is fundamentally ignorance (or avidya), the only true remedy is knowledge (jnana)—waking up to the fact that we are already the unattached, infinite Atman, completely untouched by the tossing waves of life.
It is the classic Vedantic analogy of mistaking a rope for a snake: you don't need to fight or kill the snake to be free of fear; you just need enough light to see that it was always a rope.
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