6:3a Whenever the Israelites would plant their crops,

Whenever the people of Israel planted their fields
-or-
Every year when the Israel people sowed things in their fields

6:3b the Midianites, Amalekites, and other people of the east would come up and invade them,

the people of Midian and Amalek invaded with other groups from the east.
-or-
the Midian people attacked them. They came with the Amalek people and other nomads from the east.

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