21:4a The next day the people got up early, built an altar there,

Early the following morning the people built an altar ⌊to Yahweh⌋ .
-or-
In the early morning, people got up and made a place to burn sacrifices.

21:4b and presented burnt offerings and peace offerings.

They gave ⌊to him⌋ burnt offerings and peace offerings.
-or-
Then they made completely burned sacrifices and sacrifices that bring peace with Yahweh.

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