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So, desire should, but what kind of and how to full fill them that depends.
Others as you said above are very nice and very true yet they are social tasks but to interact with God or to want to receive the divine powers you will have to be involved in such functions through which you can definitely get the truth and that is a path of Sadhana.
Kriyananda Maharshi Dayananda
2. "Be free from desires" means be free from those desires which prove harmful to your own spiritual progress and welfare of fellow humans/life-forms.
3. Substitute gross banal harmful human desires with the higher lofty spiritual desires...!
You can think more on GOD when u are in this relaxed state.