6:6a Israel was greatly impoverished by Midian,

The people of Israel were brought to poverty by the people of Midian
-or-
The Midian people put the Israel people in great misery.

6:6b and the Israelites cried out to the LORD.

and so they cried to Yahweh to help them.
-or-
Then they begged Yahweh for help.

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