The medieval commentators, most famously Rashi, tried to describe the ephod and the choshen by reconciling the various biblical accounts. Azariah dei Rossi (ca. 1511–ca. 1578) argues that such efforts are futile; only eyewitness reports are helpful.
At the battle against the Philistines at Michmas, Saul asks Ahiah the priest to bring forward the ark, so that he can consult YHWH. He is not referring to the ark of Shiloh, which was safeguarded in Kiryat-yearim at the time; in the early monarchic period, each worship site had its own priestly family with its own ark.
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Rachel steals teraphim from her father Laban; Michal uses them to save her husband David from her father Saul; Micah includes them in the shrine he builds on his property. What are they and how do they function in these stories?
In the Prophets, Israelite leaders such as Joshua, Saul, David, and Ahab use divination to help them make decisions, just as their ancient Near Eastern counterparts did. The Torah sidesteps the divinatory character of these objects and practices, and instead, emphasizes their ritual and religious character.
The Torah mentions the ephod as something the high priest would wear, but never describes it clearly, and neither do the Talmudic sages. Medieval scholars like Rashi and Rashbam use their creativity and analytical skill to try to tease this out from the biblical text.