1:16a Now the descendants of Moses’ father-in-law, the Kenite, went up with the men of Judah from the City of Palms

Moses’s father-in-law was a Kenite. The descendants of the Kenites went with the people of Judah from the City of Palm Trees
-or-
The father-in-law of Moses was from the Ken people. His descendants left ⌊Jericho, which people called⌋ ‘the City of Palm Trees.’ They traveled with the people of the clan of Judah

1:16b to the Wilderness of Judah in the Negev near Arad. They went to live among the people.

into the wilderness of Judah. They lived with the people living in the Negev near Arad.
-or-
and lived with them in the Judah Wilderness, in the south near the town of Arad.

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