20:38a The men of Israel had arranged a signal with the men in ambush;

The Israel army had made an agreement with the soldiers in the ambush.
-or-
⌊Before the battle⌋ the soldiers of Israel had decided together with the soldiers who were hiding, about what to do.

20:38b When they sent up a great cloud of smoke from the city,

⌊They agreed that⌋ the soldiers in the ambush would make a fire with lots of smoke ⌊once they were⌋ inside the city.
-or-
When the soldiers who were hiding ⌊got inside⌋ the city they were to make a lot of smoke rise up from the city.

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