I don't think South Korea is interested in invading North Korea. They just don't have the idealism of reuniting Korea like German did.
They just wanted to enjoy continued and sustainable economic growth meaning they just want to enjoy being rich.
Furthermore any intention of reuniting Korea on the part of South Korea must be done with Beijing's approval I think. That's kind of obvious.
There's no way that the Korea peninsula could be reunited simply by diplomatic effort.
However if the North Korea regime falls from within it could trigger another war. Mainly from the army faction loyal to the regime trying to unite the North Koreans with another war with the South.
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