Short answer

No one needs a guru to reach God (﷾), though everyone needs teachers. The Upanishads are right that hard knowledge must be learned from someone who has it. Islam agrees. The Prophet (ﷺ) said the best people are those who learn the Qur'an and teach it. But other Hindu texts go further. One yoga manual says "Guru is God even". A law book says a fair criticism of him is punished in the next birth. The Qur'an draws the line there. God (﷾) says He is close and answers everyone who calls, so no one stands between you and Him. A teacher is honoured, tested against God's (﷾) word, and never obeyed against it. Muslim scholars and Sufi guides stand under the same rule. So take teachers, and take God (﷾) alone as your Lord. That is Islam's answer.

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