But he who moves among sense objects free from attachment and aversion, controlled by himself, with mind disciplined, attains clarity

Freedom from rāga-dveṣa (attachment-aversion) is key. It is not withdrawal from the world but non-reaction to it. Viṣayān (sense objects) are experienced with indriya (senses) vimuktaiḥ (liberated).

Ātma-vaśyaiḥ (under own control) — self-mastery, not suppression. Vidheya-ātmā (of ātman = disciplined) — mind subordinated to higher purpose.

Prasādam (clarity, serenity, grace) is adhigacchati (attained). It is a state of inner luminosity, not fluctuating emotion.