Real brahma-darshanam happens by bhakti

Brahma-darsanam means to realize or to understand the

Transcendence. One who engages in the service of Vasudeva can actually

realize what Brahman is. If Brahman is impersonal, then there is no

question of darsanam, which means “seeing face to face.” Darsanam refers

to seeing the Supreme personality of Godhead, Vasudeva. Unless the seer

and the seen are persons, there is no darsanam. Brahma-darsanam means

that as soon as one sees the Supreme Personality of Godhead, he can at

once realize what impersonal Brahman is. A devotee does not need to make

separate investigations to understand the nature of Brahman. Bhagavadgita

also confirms this. Brahma-bhuyaya kalpate: a devotee at once

becomes a self-realized soul in the Absolute Truth.

Srimad Bhagavatam 3.32.23 purport