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will have come on

"have happened to"

in those later days

"afterwards" or "then"

listen to his voice

Here "listen" is an idiom that means to hear and obey. Also, "his voice" refers to Yahweh and emphasizes what he says. Alternate translation: "obey what he says" (See: rc://en/ta/man/translate/figs-idiom and rc://en/ta/man/translate/figs-synecdoche)