Yoga has its own value in practical life within the practical world.+

Manduka Upanishad:~ Yoga is in the sphere of duality and is unnecessary to one who knows non-duality.

Sage Sankara pointed out that yoga could in no way bring about wisdom, much less Moksha.

Yoga is based on the body as the Self.  The deeper investigation reveals the fact that the Self is not the body. Therefore, body-based practices will not yield truth. Yoga has its own value in practical life within the practical world. But yoga is nothing to do with the ultimate truth or Brahman.

The Atmic Path is nothing to do with yoga and religion. The path of religion, the theory of karma, the yogic path, and the path of wisdom were intended for different classes of people. The wisdom is for the advanced seekers of truth. It deals with the nature of the ultimate Truth and Reality. It is meant for superior aspirants who have an inner urge to know the truth and it is not for those who are immersed in earthly desires.

As per the scriptures, the three "Ashrams" or stages in life were originally intended for three grades of intelligence thus:~

Religion: low intellects had to do 'karmas' works, ritual actions, chanting of mantras and indulging in bhajans and prayers, etc.

Middle intellects: Yoga: taking yellow robes, going to caves, ashrams, etc.

High intellects: wisdom who wanted the truth is concerned with no external rites or sanyasa but depends solely on the intelligent inquiry for their path.

Sage Sankara says: - Yoga is not the means of liberation. (page 132-133 - Commentary on Brihadaranyakopanishad).

In Sutra Bashya and Mandukya: ~  The Samadhi and sleep are identical.

Brihad Upanishad does not advocate Samadhi.

Sage Sankara in the  commentary to "Brahma Sutras: - " "The highest beatitude is not to be attained by Yoga." (Sacred Books of East Series page 298 Vol.1.) And he also says Samadhi is the same as sleep (p.312) ~ which indicates that yoga is not the means to Self-realization.

Yoga can yield only the duality because everything that one can do or practice becomes a vanishing 'known.' It yields relative truth based on imagination, which is true from the physical viewpoint of view, not the non-dual truth, which is the ultimate reality or Brahman or God in truth.

Realizing the universe is created out of single stuff and that single stuff is the Soul, which is present in the form of consciousness leads to non-dualistic or Advaitic Self-awareness. Self-awareness is freedom or Moksha. Moksha is unity in diversity in the midst of duality. :~Santthosh Kumaar