He had never known the burden of sin on His person, He had never felt the shame of it.
He chose the sad road that leads to joy, and, on the way, hated the awfulness of separation from His father.
[Jesus], for the joy that was set before him endured the cross, despising the shame
Hebrews 12.2
Jesus, I despise my sloppy walk. You for Your powerful blood that erases the long list of all my shortcomings!