You have the ability to write as is shown here, keep away from repetition and think of how the whole piece comes across when read out loud.
(Not that I do) but many give this advice so I guess it is the norm.
Split up your message into easy lumps, (Stanzas), long lines can be trimmed or made into two lines.
There is a good strong theme here and needs to be let out of its prison.
Yours Ian.T

They usually come across preachy.
The message here though is impeccable and the first voice full of compassion. An invitation, not a sermon.
My only suggestions are to break
Walk with me down Freedom Avenue and we will never be held down by chains.
into two lines
Walk with me down Freedom Avenue
and we will never be held down by chains.
and the final line
Walk with me believe in what is right and we will all be free.
I am not sure if "right" is the right word and it needs a comma
Walk with me, believe in what is right [find the right word yourself but something to do with empathy, compassion, mutual goodness, do you get my drift?]
and we will all be free.

Yes, we will all be free. Love the poem.

I have had time to play with this one and have written it as it came to me about life slaves and liberty:-

Walk with me down Freedoms Avenue
Let us dance to the rhythms of life anew
through the hunger the hardships and strife.
Walk with me with a freedom of life

Past the bigots and their slaves
Past rancid bastards feeding their rage
Past the greed, the grime, the hatred, the filth,
whores, junkies, and rapists molesting our earth

We will never be held down by slaveries chain,
never bound by ignorance, or ever afraid again.
Not thrown to the wolves, or food for sheep.
Walk with me believe, we will all be free.

Know that now we don’t need to plea
Down Freedoms Avenue, walk with me.

I love the theme it seems to be a Mandela type message, and as I spent about 12 years in South Africa it rang true to the feelings expressed there,
Yours Ian.T

A good concoction of passion, rage and sensitivity is very vibrant and appealing in this piece.

Jess & Ian have already provided suggestion which you may consider for the edits which will definitely lift it up.. If this is your attempt after a long lay off, I am sure there is much more to forward to from you...

I think you've really tightened this up, enhancing rather than losing content.
Some people say a poem is never finished. I reckon it is when you say it is.
Yet you might consider:
Let us dance to a rythm of a new life [rhythm, odd that it doesn't show up on spell-checker]