। ॥ ५५८ ॥
In plain words
For the sage who dwells always in the true Self, in Brahman - his very nature already full and non-dual bliss - there is no need to wait for the right place or the right time before this lump of skin and flesh and waste finally falls away.
Close to the Sanskrit
For the sage who abides ever in the real Self, in Brahman, by nature made of full non-dual bliss, there is no waiting for a fitting place, time, and the like, for the discarding of the lump made of skin, flesh, and excreta.