We are never going to be free from desire. Desire is part of being human, and the only purpose of awakening to our transcendent Self is to embrace our earthly one.
We will never be free of desire, but we can learn to feel at home in it. We will always want more peace and love for ourselves and the world. That is what makes us human. Learning to see that this desire for earthly love is embraced by the Love of our Presence is what makes being human tolerable, and more of a miracle with each passing moment.