On a Mission

Last night I watched the final episode of Frasier, and I fell in love with the poem at the end. I am trying to find it. I know it is a Tennyson poem, but every time that it is mentioned in a news article they quote Ulysses, but I don’t think that was the poem he read. I remember him mentioned risk and chances not taken. If anyone knows what poem it is let me know so that I don’t drive myself insane looking for it!

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