29. Some look upon the soul as amazing, some describe him as amazing, and some hear of him as amazing. While others, even after hearing about him, cannot understand him at all.
Significance:
All sense perceptions are sound vibrations. They gather in the mind in the material world. Metaphorically it’s the world of Munch’s “Scream”, the movie “The Day After” or Picasso’s “Guernica”. Or a day in worldly politics. :) Being stuck in worldly logic a materialist can’t come to understand anything of substance. Through worldly logic one cannot even explain the existence of a so called simple wooden table, a wooden chair or a plastic bag. One has to use artificial boundaries and then only up to some extend one is able to explain these so called simple items. But many people these days are too ignorant to understand the fact, although they babble as if they are God themselves. Which indeed is rather amusing.

30. Oh, descendant of Bharata, he who dwells in the body can never be slain. Therefore there is no need for grief for any living being.
Significance:
The body, the “deha” in Sanskrit, is the material mind. The “dehi” is the embodied soul, which is embodied by the mind. Ones own deluded mind is always the only actual problem in the material world. But instead of recognising that ones own suffering is caused by ones own incompetence, the practise of accusing others for ones own suffering for many is way more popular in the age of Kali, the age of hypocrisy and discontent. Besides the fact that this attitude is fully unproductive, it causes prolonged and even increased suffering for those who prefer it.

31. Considering your specific duty as a ksatrya, you should know that there is no better engagement for you than to fighting based upon religious principles, and so there’s no hesitation.
Significance:
Arjuna had been engaged in extensive diplomatic efforts to avoid war, which is part of a ksatrya’s duty. But in case diplomacy fails war is inevitable. To allow your territory to be overtaken by your opponents without strategically as well as vigorously defending it, with the intent to fully neutralize your enemy, is only acceptable for a weak minded, so called "warrior".
Practising religious principles are duty bound activities for the benefit of the greater public. Having these activities in yoga a person gets rid of his illusions.  When one denies a higher force to exist in the material world one can’t act within religious principles, in piety, in awe and reverence of God. Not having knowledge of the Absolute Truth but also not having any piety one simply lives like an ignorant animal.
When a person gets rid of his illusions, his imprisonment, he reaches his sanatana dharma, which means “that which one cannot change”. This advises Krishna Arjuna to do in the Bhagavad-Gita, but never demands it. One of course cannot force liberating activity upon anyone. In regards of ones overall inclination; there are four types of characters within society, namely intellectuals and philosophers, politicians, warriors and managers, business people/the mercantile class, and skilled professionals. You can go to whatever country, to whatever society, but in every society, worldwide, you’ll find these four types of characters with their specific overall inclinations. So the principle of overall inclination has got nothing to do with the so called “Indian caste system”. It is one of God’s laws of nature, and therefore present within in every society, worldwide.

32. Oh Partha, happy are the ksatryas for whom such fighting opportunities come unsought, for they open for them the door to the heavenly planets.
Significance:
Ksatryas like to engage in war when the opportunity arises, but they are never after it. Ksatryas are developed, noble and friendly people. Only thugs are after war, are after trying to harass and intimidate other people. On the other hand, crybabies always feel intimidated and harassed, whine about the right to “safe space” every other day. Or they are simply other thugs with a cheap act, being “cultivated” within a corrupt Kali yuga educational system.