5:19a that God was reconciling the world to Himself in Christ,

That is, by means of the life of Christ, God was restoring his relationship with the world,
-or-
Furthermore, God was making a way for all people to become reconciled through all that Christ did.

5:19b not counting men’s trespasses against them.

⌊for example,⌋ he will not accuse them of their sins,
-or-

⌊When people become reconciled with God⌋ he will not hold their sins against them.

5:19c And He has committed to us the message of reconciliation.

and he appointed us (excl.) ⌊to tell⌋ the message of restoring relationships.
-or-
He also gave to us ⌊the task of telling⌋ the message of reconciling with him.

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