If you are well versed in the traffic rules of a country, you are free to move around in a car and even visit unknown places in that country. However, you are new to the country and don’t yet know the rules, you would feel quite fearful to drive a car in such a country, even though you may know how to drive.
Likewise, if we become proficient in understanding the rules/regulations/recommendations from the Gita, we will experience much freedom in life. We will be able to navigate through the most complex situations of life with confidence.