The sight of the Lord's form is rare even for the gods (11.52), and none of the four great means, Veda study, austerity, charity or sacrifice, can claim it as a price (11.53).
The twenty verses give different reasons for not grieving, for different listeners, and they agree in outcome. One is the lasting self (2.16–25), one is the unavoidable cycle (2.26–28), and one is the self in every being (2.29–30).
The first knowing is a sight of the Lord's glory that turns the devotee (10.7-8); the last is the wisdom of discernment that carries him to the Lord, and the Lord gives it (10.10-11). So the movement is one path that deepens, not a circle.
Arjuna asks who knows yoga best. The Lord answers in terms of being joined to Him, not of knowing: the one who fixes the mind on Him, stays steady and has supreme faith is the most united (12.2).