Halakhah for Makkot 22:7
ואינו יוצא לא לעדות מצוה ולא לעדות ממון ולא לעדות נפשות ואפי' ישראל צריכים לו ואפי' שר צבא ישראל כיואב בן צרויה אינו יוצא משם לעולם שנאמר (במדבר לה, כה) אשר נס שמה שם תהא דירתו שם תהא מיתתו שם תהא קבורתו
And [a killer] can not go out [of the city of refuge], not to testify fro a mitzvah, not to testify for monetary cases, not to testify for capital cases. And even if Isreal needs him, and even if he is a great general of Isreal like Yoav ben Tzruyah, he can not ever go out, as the Torah says (Numbers 35, 25), "that he fled there". "There" shall be his dwelling. "There" shall be his death. "There" shall be his grave.
Sefer HaChinukh
From the laws of the commandment is that which they, may their memory be blessed, said (see Mishneh Torah, Laws of Murderer and the Preservation of Life 8:2, 4) [regarding] these six cities that Moshe separated three of them in Transjordan and Yehoshua separated three of them in the Land of Canaan, but the ones of Moshe did not shelter until the three of Yehoshua were separated. And if so, why did Moshe separate them? He said, "[If] a commandment comes to my hand, I will fulfill it." And at the time of the King Messiah, we will add another three, as it is stated (Deuteronomy 19:9), "and you shall further add for yourself three cities upon these three, etc." And they, may their memory be blessed, said (Mishneh Torah, Laws of Murderer and the Preservation of Life 8:10) that all of the cities of the Levites would shelter, as it is stated (Numbers 35:6-7), "and upon them you shall give forty-two cities. All of the cities that you shall give to the Levites, etc." - Scripture compared all of them (the six cities of refuge and the forty-two additional ones). But there is this difference between them - that the cities of refuge shelter, whether knowingly (when the inadvertent killer is seeking refuge there) or not knowingly; whereas the cities of the Levites only shelter knowingly. [Also] a murderer that lives in a city of refuge does not [pay] rent; whereas in the other cities, he [pays] rent. And [also that which] they, may their memory be blessed, said (Bava Batra 100b) that the width of the path [to the] city of refuge is thirty-two ells; and that on the fifteenth of Adar, the court would send agents to fix the paths - and if they were negligent in the matter, it is as if they spilled blood. And [also that which] they, may their memory be blessed, said (Makkot 11b) that the perimeter of any city that shelters, [also] shelters. And the rest of the details of the commandment are in Sanhedrin, in Makkot, in Shekalim and in Sotah.
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