The people of Gad and Reuben offered to remain west of the Jordan until every Israelite had occupied his own land. Moses thought this was unreasonable and counter-offered by lowering the bar a bit in Numbers 32:20-24.

In v22, Moses corrects their end goal: Every Israelite matters, but your fight is for the Kingdom as a whole. Don't lose the forest among the trees.

In v24, God corrects their priorities: Family always comes before possessions.

In v29, Moses corrects their motivation: You aren't fighting for Israel, but for God, even when you're fighting for Israel.

https://www.americantorah.com/....2014/07/resolving-co