Summary: Invigorated by elaboration of my thoughts concerning actuality and potentiality
I dig in a bit more. I start with an elaboration on the increasing limits to (and consequent narrowing of) potentiality expression that occurs with time and then, propelled by an idea provided by Mr. Fettig, I end by naming two processes for weakening the pernicious hold of habit and history. [Sparse details here; morewill be provided in a future entry].

Potentiality and Actuality Over Time

First more on potentiality over a life span: We start with a particular genetic make-up, one that makes us unique with our own slightly to greatly varying [from species norms] physiological predispositions. We start with unique tendencies to initiate, respond, communicate, relate etc. But these are all tendencies that have not (at the moment that a recognizable self first comes into being) been exercised; they are potential only.

At the ages, say, of five, fifteen, twenty five and fifty, etc., our initial predispositions [hard-wiring?] will remain the same but will not be the only direct influence on how we act. In addition to hard-wiring we have to add the effects of accumulated experience. Over the years we have accumulated habits, pains, illness, knowledge, mistaken knowledge, prejudice, the expectations of others in our social-ecology, and some wisdom; the summary hodge-podge of all of these constrain both our intentions and the actions we actually take.

Some of these limits are more easily surmounted than others. We cannot easily overcome loss of hearing due to meningitis. We cannot easily overcome the loss of a limb. We cannot easily overcome reputation for good or bad behavior while remaining in the same social setting. We can, however, correct mistaken knowledge, overcome a limiting ignorance, become wiser, choose to work through pain. In short, some limits are, we discover, not absolute. Among the crossable limits are those that originate within because of our own ignorance, fear, prejudice, etc.

Overcoming self-imposed limitation

[After asserting that self-imposed limitation may be overcome. I am going to leave the details to a future {to be written soon} entry.] Two sorts of overcoming-of-self-imposed-limits occur to me.

One is analytic [what Buber might refer to as I/It]--the interplay of questions, deductions, inductions and the fearless will to act on the results of such [= " grasping" as in title of this entry]*.
The other is an wholistic/intuitive and even spiritual [What Buber might well call I-Thou] interaction with each situation, each entity as a whole. This wholistic aperception (as in the "embrace" of the entry title) then motivates and directs your actions and thoughts in ways that no analytic thinking could allow.
*There is also imagination, as Flemming Funch, details.--which I am temporarily designating as a form of benevolent and effective I/It thinking. I look forward to FF's comments in this respect.]