Does the speaker seem happy with his choice in "The Road Not Taken" by Robert Frost?

This famous poem by Robert Frost explores both an actual and symbolic pair of paths in the woods. The "[t]wo roads [that] diverged in a yellow wood" offer two paths, and one path is slightly less traveled than the other. The speaker is "sorry" he or she cannot "travel both," but must make a choice. It does indeed seem to be true that the speaker in the poem is satisfied with the choice he/she has made, to take one path and not another. The speaker takes the road "less traveled by" and says "that has made all the difference." Here we see a shift in tense as well, from past tense to future: "I shall be telling this with a sigh, somewhere ages and ages hence." The speaker knows that he/she is making the wiser choice, one that will resonate in memory at a future time. The fact that it will make "all the difference" suggests a realization that taking a road not used as often is a more daring and interesting choice. If one reads this poem as a metaphorical summation of one's chosen path in life, the speaker is offering the opinion that choosing to do things which deviate from the more expected or acceptable social expectations might indeed lead to a more satisfying life.