2:18a Whenever the LORD raised up a judge for the Israelites,

Whenever Yahweh gave them a judge,
-or-
Yahweh chose judges for the people of Israel many times.

2:18b He was with that judge

he helped that judge.
-or-
⌊When Yahweh chose a judge⌋ he was with him

2:18c and saved them from the hands of their enemies while the judge was still alive;

During the life of that judge he saved the Israelites from the power of their enemies.
-or-
and used him to save the people from their enemies for as long as that judge was alive.

2:18d for the LORD was moved to pity

Yahweh had pity ⌊on them⌋
-or-
Yahweh did that because he had compassion ⌊on the people⌋ .

2:18e by their groaning under those who oppressed them and afflicted them.

because they cried out under the blows of those who abused them and made them suffer.
-or-
⌊He had compassion⌋ because they cried out to him when their enemies hurt them and oppressed them.

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