Here "the burden from his shoulder" represents the forced labor the Israelites had to do as slaves in Egypt. (See: [[rc://en/ta/man/translate/figs-synecdoche]])
When God came to the Israelites, he hid the fullness of his presence and glory in a dark and threatening cloud. (See: [[rc://en/ta/man/translate/figs-explicit]])
God tested the children of Israel to see if they would trust him to supply water in the desert of Meribah. (See: [[rc://en/ta/man/translate/figs-explicit]])