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

तेषां सततयुक्तानां भजतां प्रीतिपूर्वकम् ।
ददामि बुद्धियोगं तं येन मामुपयान्ति ते ॥ १० ॥
To those who are constantly devoted to serving Me with love, I give the understanding by which they can come to Me.
-Bhagavad-Gita Chapter 10 Verse 10