The best word to complete the analogy is "rejoice" is to "lament" as "endure" is to "hesitate," "persevere," "tolerate," and "persist" are all positive or neutral actions in contrast to "lament," which is a negative expression.
Since "endure" implies suffering or bearing something difficult, the closest analogy would be "tolerate," as it also relates to putting up with something unpleasant rather than taking action toward something more positive or engaging.
So, the best choice here is "tolerate."