Formless does not mean has no form. Not this form. That is formless. But people with less intelligence, they think formless means there is no form. Formless means not this form. This is anyathā rūpam. This is different from our real form. So mukti means to give up this unreal form and accept your real form. Just like freedom from disease. Get free from the diseased condition and come to real, healthy life. So this Kṛṣṇa consciousness movement is for bringing men to the real life.
-691226 - Lecture Initiation - Boston

काङ्क्षन्तः कर्मणां सिद्धिं यजन्त इह देवता ।
क्षिप्रं हि मानुषे लोके सिद्धिर्भवति कर्मजा ॥ १२ ॥
Men in this world desire success in fruitive activities, and therefore they worship the demigods. Quickly, of course, men get results from fruitive work in this world.
-Bhagavad-Gita Chapter 4 Verse 12