In "The Road Not Taken," the speaker makes the right choice in his choice of roads. He claims that the road he chose has made all the difference. Still, he cannot help but wonder what the "other" road would have held. He stands looking down the one road, wondering what the road has in store. And he takes the other road.
No doubt, the roads are symbolic in that each represents a journey in life. The speaker stands at the two roads trying to determine which road to take. How often in life is a traveler torn between two roads. In this poem, the poet takes one road and leaves the other for another day. However, he doubts that he shall ever come back because "way leads on to way."
The title of the poem reveals that the speaker is still thinking about the other road, the road not taken. The speaker is wondering what that road would have held. But it is too late to go back for "way leads on to way" and the speaker has moved on.
In the last stanza, the speaker states that he is telling his story with a sigh. That could be a sigh of relief. The speaker does say that the road he ultimately decided on has made all the difference. The reader assumes that difference is for the better. Only the speaker knows for sure:
Two roads diverged in a wood, and I,
I took the one less traveled by,
And that has made all the difference.