Jñāneśvarī (commentary on the Bhagavadgītā) 8.204

8.204

yatra kāle tv anāvṛttim āvṛttiṃ caiva yoginaḥ
prayātā yānti taṃ kālaṃ vakṣyāmi bharatarṣabha
tevīṃci āṇikeṃhī ekeṃ prakāre |
heṃ jāṇatāṃ āhe sopāre |
tari deha sāṃḍiteni avasareṃ |
jetha miḷatī yogī ||

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At what time the yogins depart to non-return, / and at what time to return, that time I shall declare, O bull of the Bharatas. (Bhg 8.23)
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Likewise, in yet another way, / this is easy to understand: / the proper time for abandoning the body, / wherein the yogins unite [with Brahman].