It is an archetypal dilemma, for which we can not really tell the right path we truly need or want, and nor can we anticipate accurately the consequences. Therefore, that’s why the title is named “The Road Not Taken,” instead of “The Road Less Traveled,” because the persona has anticipated his future remorse. He knows that his future self will betray the present moment of decision-making, which seems inevitable to him because when he make the choice by his free will, the fate is destined and there’s no way to reverse it but repent it.
In addition, the persona sighs not so much for the wrong decision but for the moment of decision-making because it is the turning point that pave the way of his passing life. In my point of view, there is no clear distinction between right and wrong paths because the other path we have never traveled is always unknown to us. Therefore, remorse for the road not taken and boast of the present road less traveled by is only a means of regaining energy for keeping on living in the present