Bhagavad Gita, Chapter 6, Verse 2

Know that to be devotion to action, which is called renunciation, O Pândava, for none becomes a devotee to action without forsaking Sankalpa.

These two words point at the same real thing underneath, not two separate destinations.

This closes a gap some might still be holding onto after Chapter 5. Renunciation and yoga aren't competing paths here, genuine yoga already requires the same inner letting go that real renunciation does.