Yes.
“All living beings are in utter ignorance from birth. They are deluded, due to hate and desires. Those persons whose sinful activities have come to an end, and are now pious, free from hate and desires, are able to engage in devotional service unto me with determination.” (Lord Krishna, Bhagavad-Gita 7.27-28)
As stated in this verse, we are all born into delusion and are bewildered. But those who stop all sinful activities like animal killing, gambling, lust, alcohol, drugs, and hatred, are freed from delusion, and they can know God as a person and engage in his service.
“Being freed from attachments, fear, anger, and fully situated in thought of me, many have become purified by penance and knowledge of me. They all attained pure love for me. (Lord Krishna, Bhagavad-Gita 4.10)
The purpose of religion is to achieve love of God. In this verse, Krishna states that those who worship him are freed from material attachments, fear, anger, become purified, and achieve pure love of God.
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