One tank of gas is a strong metaphor for the idea, many feel very uncomfortable about, that life is a once-in-a-life-time opportunity. So many wish they can fill-up when it suits them in order to guarantee they’ll arrive at the better place, or Heaven as many choose to name it.

One tank of gas might be enough if one is able to see the beauty of life, right here and now.

Such a vivid message could stand greater development.

The rhyming scheme and chirpy (up-beat) meter, particularly the sixth stanza, does not help this theme. Changing the normal syntax of a sentence, just to get a rhyme; eg, “…ocean, vast” is poor style because it sounds forced, and this distracts the reader. It makes him aware he’s reading a verse rather than a carefully developed idea. This is the main difference between poetry and doggerel. Poetry appears natural and effortless. Whether it rhymes or not, powerful structure is unobtrusive.

The word, “doable” doesn’t add to the mood of the poem. Word choice is very important because each word brings not only meaning, but mood, connotation and meter. Instead of, “Is it doable?” maybe something more “eee” sounding, would bring out the yearning.

“My desire is there,
Want becoming need.
Is it doable?
Can I beg or plead?”

Suggested improvement:

“I see the way clearly,
Desire feeds need,
How to achieve it,
Bend knees and plead?”

The “ee” words make the stanza whine. It’s a pleading stanza, so this is appropriate.

I hope these notes help a little.