5:10a There was nothing in the ark

Nothing was inside the ark
-or-
The covenant box was empty
-or-
The only things in the chest

5:10b except the two tablets that Moses had placed in it at Horeb,

other than the two tablets Moses put there at Horeb.
-or-
except for the two panels made of stone. Moses had put the panels in the box when they were at Mount Horeb.
-or-
were the two tablets that Moses put inside it on Mount Horeb.

5:10c where the LORD had made a covenant with the Israelites

Horeb was where Yahweh made a covenant with the people of Israel
-or-
That was where Yahweh made his serious agreement with the people of Israel.

5:10d after they had come out of Egypt.

when they came out of Egypt.
-or-
That happened after Israel left Egypt.

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