5 If the avenger of blood comes in pursuit, the elders must not surrender the fugitive, because the fugitive killed their neighbor unintentionally and without malice aforethought.

Read Joshua 20:5 Using Other Translations

And if the avenger of blood pursue after him, then they shall not deliver the slayer up into his hand; because he smote his neighbour unwittingly, and hated him not beforetime.
And if the avenger of blood pursues him, they shall not give up the manslayer into his hand, because he struck his neighbor unknowingly, and did not hate him in the past.
If the relatives of the victim come to avenge the killing, the leaders must not release the slayer to them, for he killed the other person unintentionally and without previous hostility.