The Fool has been reborn. His false, ego-self has been shed, allowing his radiant, true self to manifest. He has discovered that joy, not fear, is at life's center.
The Fool feels absolved. He forgives himself and others, knowing that his real self is pure and good. He may regret past mistakes, but he knows they were due to his ignorance of his true nature. He feels cleansed and refreshed, ready to start anew.
It is time for the Fool to make a deeper Judgement (20) about his life. His own personal day of reckoning has arrived. Since he now sees himself truly, he can make the necessary decisions about the future. He can choose wisely which values to cherish, and which to discard.
The angel on Card 20 is the Fool's Higher Self calling him to rise up and fulfill his promise. He discovers his true vocation - his reason for entering this life. Doubts and hesitations vanish, and he is ready to follow his dream.