You know, in retrospect, it's not surprising that the day after you published this, you published "I want to roll you up like a precioux textile," as this poem is full of fabric-related imagery, especially in the second stanza - "folds", "enveloping," especially with "plushness" which makes me think of cushions and winter blankets, hmm.
(And the video also had quite a focus on fabrics, or at least it felt that way to me.)

Speaking of "enveloping plushness," that sure is a phrase to unpack, especially when we know your distaste, even though it is sometimes a bit knee-jerk, against "safety," which is interesting, as you champion comfort.
Enveloping plushness, also an image that could easily be connected to warmth and security, and to a lover's, or a mother's embrace, but it also hides you away, takes you away, almost as if you drown.

There is a void between the opening stanza and the closing one. And it leaves me in mind of the saying, or the parable, of the person who spent every day thinking of what he could've done different earlier in his life, and then he spends the next day thinking of what he could've done the day prior, and ends up doing nothing.

That it is "useless" to look so at the past does not mean we don't all do it.
And of course, it isn't useless. It's a good way to course correct, to find out what it is we truly want to do, by seeing what we miss most over not having done.

But the hope is to not let it envelope you.

Easier said than done.
We can never get everything done. This puts me in mind of the Spoon Theory, and we usually don't have enough time, even if we are perfectly healthy.

And is there anything more draining than thinking of what we did not accomplish? I am not sure there is.