I think you've misinterpreted it. The ending bit in chapter 20 is describing the future to come. In the past the emperor didn't care much about familial ties which will change in the second life.
so now, because of that, we already have a gist of what's to come? but what's with the "Yeodam's courage to repeat a path he had taken before without fear or hesitation was a meaningful and important choice that impacted the entire future of the empire" ?
I think the 'repeat a path he had taken before' just refers to him making the choice of going back to the palace for the second time ╮(＾▽＾)╭
+1
Based from Chapter 20 or 21 I think? they actually had a child from the past named Sung Jin Hwa? of all the emperor's child from the past, only his child with Yeodam is a male meaning that child probably will inherit the throne... ? and the way the recent chapter is going now, it feels like he will relive his past which is the part where he brought more followers/believers in the name of her goddess ( i forgot the name) and somehow also bringing back honor to the humans whom have since been deprived of that since the Jin clan ruled ? This is actually kinda interesting and reminds me of Palace of Bardo which makes me think that what if, Yeodam in his past life was such a tsundere that the emperor just wants to affirm Yeodam's feelings for him (if it exists) by trying a lot and doing a lot of things to him such as manipulating (?) him to the point where he is pushed to a corner and forced to really love the emperor? If you've read Palace of Bardo and how twisted it is, you'll probably get the gist of my opinion nyahahaha