I agree with you that we sounds nicer. Do you think it helps to lessen the pain if you add a couple of commas, thereby causing the reader to pause slightly and blunt the awkward effect? Like this:

Yet you can remove, by mindless bluster, the common - all too common sorrow from us, thoughtful human fools, if we dare to face you, spread our quiescent wings, and let go.

It may change the meaning for you, I don't know. I must admit, I'd like to read the whole poem. Whomever you are writing this to cannot be much loved by you!