When one has no clinging to sensory objects as well as activities, and has renounced all kinds of expectations and imaginations, he is said to have climbed the pedestal of yoga (Yogārūḍha).
Krishna juxtaposes sannyāsa and yoga, displaying the truth that the essence of both is the same, making the mind pure and refined, so much that it starts radiating delight all by itself. Whether it is sannyāsa, renunciation, or yoga, pursuit of activity, both relate to the inner mind, its attitude, enrichment and identity.
Spirituality is to imbibe the spirit and purpose of eschewing delusional clinging to sensory objects and the activities motivated by such clinging. Mind must renounce its tendency to possess, namely clinging, saṅga. Once it is able to effect this, sannyāsa is accomplished.
Krishna clarifies that to climb the yoga pedestal also means to gain such inner renunciation. How can sannyāsa verily differ from yoga then? Are not both inwardly the same?