This one was hard to read. It feels like it is missing words, but I wonder if each stanza functions as it's own part of speech or clause...

If we joyfully navigate ourselves into the future...(introductory dependent clause) 

as lovers who strive for the biblical oneness (appositive to describe ourselves and our relationship)

how do we in our limited understanding imagine ourselves free? (independent clause) 

Even though we don't understand the mysteries, you'll rest and I'll sing to you

while the rest of the world concentrates on their schedules that don't matter. 

We are free in our love.

I don't know. Probably nonsense.