Throughout the Bible it is clear that all people—without exception—are invited by Jesus. But people who are not burdened by their sins do not come to Jesus. That is what Jesus means here. It is not about a restriction as if only the weary and burdened are allowed to come. It is not a restriction but an observation, a statement of Jesus that those who come to him know and acknowledge their sin and are troubled by it.
28 Venez à moi, vous tous qui êtes fatigués et chargés, et je vous donnerai du repos.