20:23a They went up and wept before the LORD until evening,

The Israel people went back to repent before Yahweh. They stayed there until evening
-or-
⌊Then⌋ the people of Israel went back to Yahweh and cried in his presence until the sun went down.

20:23b inquiring of Him,

asking for Yahweh’s help.
-or-
They asked Yahweh what they should do.

20:23c “Should we again draw near for battle against our brothers the Benjamites?”

They asked him, “Should we (excl.) fight the Benjamin people who are our brothers from Israel?”
-or-
They asked him whether or not they should fight against the clan of Benjamin a second time.

20:23d And the LORD answered, “Go up against them.”

Yahweh answered them, “Yes, you (plur.) should go back and fight them.”
-or-
Yahweh replied that they should.

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