Nobody is free from anxiety. The soul is suffering & that is expressed through the manifested body.
Spiriual rasas which are relished in the liberated stage can be experienced in the literature of Srimad Bhagavatam due to it being the ripened fruit of all Vedic knowledge.
The human body is rarely achieved and although temporary like other bodies, it is meaningful because in human life one can perform devotional service. Even a slight amount of sincere devotional service can give one complete perfection.