ye shall find rest...at His feet. As the above consider Mary and Martha: Luke 10:38-42 Now it came to pass, as they went, that he entered into a certain village: and a certain woman named Martha received him into her house. [39] And she had a sister called Mary, which also sat at Jesus' feet, and heard his word. [40] But Martha was cumbered about much serving, and came to him, and said, Lord, dost thou not care that my sister hath left me to serve alone? bid her therefore that she help me. [41] And Jesus answered and said unto her, Martha, Martha, thou art careful and troubled about many things: (Labour and are heavy laden)[42] But one thing is needful: and Mary hath chosen that good part, which shall not be taken away from her.
Encumbered 1. (n.) That which encumbers; a burden which impedes action, or renders it difficult and laborious; a clog; an impediment. See Incumbrance.
Hebrews 12:1Therefore, surrounded as we are by such a vast cloud of witnesses, let us fling aside every encumbrance and the sin that so readily entangles our feet. And let us run with patient endurance the race that lies before us,
Not sure how to apply what you had shared with Matthew 11:28-30 when Jesus was talking about learning of Him so religious people can rest in Him as saved. In context, we read about how the Father is the One that draws men unto the Son to reveal His Son to them so they can believe in Him.
Matthew 11:25 At that time Jesus answered and said, I thank thee, O Father, Lord of heaven and earth, because thou hast hid these things from the wise and prudent, and hast revealed them unto babes. 26 Even so, Father: for so it seemed good in thy sight. 27 All things are delivered unto me of my Father: and no man knoweth the Son, but the Father; neither knoweth any man the Father, save the Son, and he to whomsoever the Son will reveal him.
I believe the underlined portion is why Jesus said these words next for the religious people in how they can believe in Him when they learn of Him to find rest for their souls.
Matthew 11:28 Come unto me, all ye that labour and are heavy laden, and I will give you rest. 29 Take my yoke upon you, and learn of me; for I am meek and lowly in heart: and ye shall find rest unto your souls. 30 For my yoke is easy, and my burden is light.
That is why not very many mighty men nor wise men are called because they cannot fathom surrendering from all their religious works and zeal for God to rest in Him that they are saved simply for believing in Him.
1 Corinthians 1:26 For ye see your calling, brethren, how that not many wise men after the flesh, not many mighty, not many noble, are called: 27 But God hath chosen the foolish things of the world to confound the wise; and God hath chosen the weak things of the world to confound the things which are mighty; 28 And base things of the world, and things which are despised, hath God chosen, yea, and things which are not, to bring to nought things that are: 29 That no flesh should glory in his presence. 30 But of him are ye in Christ Jesus, who of God is made unto us wisdom, and righteousness, and sanctification, and redemption: 31 That, according as it is written, He that glorieth, let him glory in the Lord.