Russia could fully integrate into EU/NATO if it really wanted.
That's just not compatible with ambitions of its corrupt leaders who want to be a root-level player, not "one of NATO countries". And I'm not sure how legitimate is prioritization of wants of corrupt leaders over well-being of your compatriots.
They have asked to be a part of nato twice around 2000th and were both times rejected.
Unsurprisingly, the same motivates the current crop of leadership in the US. They stopped teaching history in school I guess.