Bhagavad Gita · Dhyana Yoga (Atma-samyama Yoga)Chapter 6, Shloka 28 (6.28)

Shankaracharya. Yogāntarāya-varjitaḥ — free of the obstacles to yoga; sukhena anāyāsena brahma-saṃsparśaṃ brahmaṇā pareṇa saṃsparśo yasya — the happiness that has contact with the supreme Brahman; atyantam antam atītya vartate iti — that which is beyond the end, niratiśayam. And further: idānīṃ yogasya yat phalaṃ brahmaikatva-darśanaṃ sarva-saṃsāra-viccheda-kāraṇaṃ tat pradarśyate — now the fruit of yoga — the vision of oneness with Brahman, which cuts off all samsara — is shown (6.29).

Acharya Ramanuja. Vigata-prācīna-samasta-kalmaṣaḥ — all old faults gone; brahma-saṃsparśaṃ brahmānubhava-rūpaṃ sukham atyantam aparimitaṃ sukhena anāyāsena sadā aśnute. And further: atha yoga-vipāka-daśā catuṣ-prakārā ucyate — now four stages of the ripening of yoga will be described (6.29–6.32).

The difference: Even the outline of the next four verses differs — Shankara: the vision of oneness with Brahman; Ramanuja: four stages of the ripening of yoga.