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Hagoromo had foreseen the future twice.
The first time, he was still a young man, contemplating his children sleeping peacefully in their cribs. What he saw that evening fueled him with hope. Humans were living peacefully and harvesting the fruits of their hard work. They connected to one another through Ninshu and helped one another through Ninjutsu. Watering crops with a hand sign, sailing a boat with the effort of a little crew, digging a well to quench their thirst or starting a fire to chase the cold away. Bijuus were revered as benevolent deities... Their world wasn't quarrel free of course but the connections between hearts solved all conflicts. At the vision, Hagoromo felt his heart swell in his chest, he loved his children, he loved humanity. All would be good.
But things turned sour. Too late he saw what his prodigious son had become. He was too old to change his son's heart now. Before dying he made his second son his heir, thinking this would re-establish balance. But right as his eyes were shutting down on the world forever, he was hit with another vision from the future. Gone were the men and women living in peace, long forgotten was the Ninshu, tainted was the Ninjutsu. All he saw was suffering and wars, people living for revenge, people trying to gain powers by any means, families torn apart, allies betraying each other. Bijuus hated the humans who were trying to chain them to use their powers. He hated humans, he hated his children. Hagoromo wanted to scream but before he could open his mouth, he was dead.
And then there was a light, Hagoromo was alive again? No, his chakra had been awoken by two souls. The reincarnations of his equally beloved and hated children. Facing the two children broken by his legacy, Hagoromo almost crawled to their feet to ask for forgiveness. But it wasn't the time, his heirs needed guidance to face the wrath of his mother. The old soul gave the brothers his powers, but most importantly, he gave them the wisdom he had failed to transmit to his sons. Because he knew this pair would succeed, he could feel it. The end of the fight proved him right.
The boys would change everything, and when he finally returned to the limbs, Hagoromo understood that his visions weren't a future set in stone but possibilities that needed to be fed, paths that needed to be taken, choices that needed to be made. Hagoromo went peacefully this time, he trusted humans and he trusted his children Naruto and Sasuke.