Amit Majmudar's new verse translation of the Bhagavad Gita, Godsong, includes extensive commentary, much of it illuminating in an accessible level to the typical reader. Here is an excerpt.
The first task of translation is finding a way to sound as little like a translation as possible while still maintaining accuracy. The terms that Arjuna asks about gave me great trouble. They consisted of familiar terms -- self, God, being, sacrifice -- but linked to a prefix that made them specific theological terms which have no English equivalent. The solution of other translators, from direct transliteration into Roman script (Sargeant) to "material manifestation" (Prabhupada) to "elemental-basis" (Feuerstein), were not for me. I decided I would carry out a process in English identical to the one carried out in the ancient Sanskrit. After all, these were not terms used in the everyday parlance or poetry of ancient India. They were theological terms, unusual enough that Arjuna asks Krishna to define them. So I hooked the familiar word to the equivalent English prefix. Adhi and meta are similar, and both have theological connotations. So it metaself, metagod, metabeing, and metasacrifice seem neither spoken nor poetic English but more like theological jargon, that is because I'm staying faithful to the original Gita.