Formless does not mean has no form. Not this form. That is formless. But people with less intelligence, they think formless means there is no form. Formless means not this form. This is anyathā rūpam. This is different from our real form. So mukti means to give up this unreal form and accept your real form. Just like freedom from disease. Get free from the diseased condition and come to real, healthy life. So this Kṛṣṇa consciousness movement is for bringing men to the real life.
-691226 - Lecture Initiation - Boston

आपन्न: संसृतिं घोरां यन्नाम विवशो गृणन् ।
तत: सद्यो विमुच्येत यद्ब‍िभेति स्वयं भयम् ॥ १४ ॥
Living beings who are entangled in the complicated meshes of birth and death can be freed immediately by even unconsciously chanting the holy name of Kṛṣṇa, which is feared by fear personified.
-SB 1.1.14