The Centrality of Desire in Action

In the Bhagavad Gita you have this idea of unattached action, so even within a broadly speaking Vedic context, you also have the idea that desire could be eliminated or perhaps just ignored. Do they actually have good arguments for the centrality of desire in action? Well Kumail has quite rude against Buddhists in this sense because he sort of mocks them for the idea of claiming that it would be possible to perform an action without desire. But Mihmantha's soul themselves as quite rational, empiricist and down to earth people and they've made fun of the Buddhists as blind believers.