viduro 'pi parityajya
prabhÄse deham ÄtmanaḼ
kášášŁášÄveĹena tac-cittaḼ
pitášbhiḼ sva-kᚣayaáš yayau
Vidura was an incarnation of a devata, not an eternal associate. Therefore he gave up his body. The Pitrs had come to lead him to his abode. Svaksayam means his place of jurisdiction.