There is a fair amount of irony to be found here in the poem but this is also a poem infused with the anticipation of remorse. Its title is not ‘The Road Less Travelled’ but “The Road Not Taken”. Even as he makes a choice (a choice he is forced to make if he does not want to stand forever in the woods, one for which he has no real guide or definitive basis for decision-making), the speaker knows that he will second-guess himself somewhere down the line or at the very least he will wonder at what is irrevocably lost: the impossible, unknowable Other Path. But the nature of the decision is such that there is no Right Path - just the chosen path and the other path. The Road Less Travelled is a fiction the speaker will later invent, an attempt to polarize his past and give himself, retroactively, more agency than he really had. What are sighed for ages and ages hence are not so much the wrong decisions as the moments of decision themselves - moments that, one atop the other, mark the passing of a life. This is the more primal strain of remorse.