The final moments of the bittersweet finale of Captain America's MCU debut, Rogers' personal life was plagued by the dream of a happy romance which heroic duty plunged into a deep freeze.
At every turn through his MCU arc, Steve Rogers' private life has been stymied by his job as Captain America. In Captain America: Civil War, he lays Peggy to rest, along with his chances at ever having a normal happy life.
So when given the opportunity to travel through time and change the narrative of his life, of course he decides to "try some of that life Tony was telling [him] to get." After defeating Thanos, returning the Steve Rogers was able to finally get the happy life - and happy ending - he'd been sacrificing for so long.
Naturally, astute fans were quick to point out all the moral quandaries created by this new timeline. If Steve went back to the 1940s and lived out a happy, quiet life until reuniting with Sam on that bench, doesn't that mean he stood idly by as innumerable disasters took place? He couldn't intervene, so as not to dramatically alter the timeline. Would Captain America really allow Hydra to undermine SHIELD, or for any number of horrors to transpire under his watch?
These concerns not only ignore the MCU's confusing time travel logic, but miss the narrative heart of the MCU. Avengers: Endgame is built around the idea of second chances and learning from mistakes. Cap learns not to rely on dogma, but instead use cunning for the greater good in sidestepping the infamous "Elevator Scene" fight. Similarly, at the end of a long journey, Steve takes the opportunity to remedy his biggest mistake: not giving Peggy that dance. Though the mantle of Captain America will continue onwards, the perfect end to Steve Rogers' arc had been coming for a long, long time.
