What is desire? why people desire what they desire? how do psychologists see desire? what is the relation between desire, unconscious, repression, and self-mastery and self-discovery?

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what is desire? why people desire what they desire? how do psychologists see desire? what is the relation between desire, unconscious, repression, and self-mastery and self-discovery? do the lidinal drives create happiness amd freedom? dig into related concepts like meaning, free will, sex and sexuality, existence..etc

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