Ibn Ezra on Numbers 1:10

לבני יוסף. אחר בני לאה בעבור כבוד רחל על השפחות והחל מאפרים על דרך יעקב אבינו והקדים אפרים ומנשה על בנימין כי הם מקום יוסף ואחר כן החל מדן שהוא בכור השפחות ואחריו אשר כי השם ידע שהוא יהיה ראש החונים על דגל דן ואחר כן גד כי הוא בכור שפחת לאה: OF THE CHILDREN OF JOSEPH. The children of Joseph are mentioned after the children of Leah because Rachel’s status was greater than that of the handmaids.¹⁶Hence Rachel’s descendants are mentioned before those of the handmaids even though the children of the handmaids precede them in birth. Scripture begins with Ephraim, in keeping with the actions of our father Jacob.¹⁷Manassah was older than Ephraim. However, Jacob placed Ephraim before Manasseh. See Gen. 48:21. Scripture places Ephraim and Manasseh¹⁸Joseph’s sons. before Benjamin because they are in place of Joseph.¹⁹Joseph was born before Benjamin. Scripture then begins with Dan,²⁰The son of Bilhah, Rachel’s handmaid. who was the first-born of the handmaids.²¹Of the children born to the handmaids’. See Gen. 30:6. Asher follows Dan²²Gad and Asher were the sons of Zilpah, Leah’s handmaid. According to Gen. 30:10-13, Gad was Zilpah’s first-born. Thus Scripture should have mentioned Gad before Asher. Hence I.E.’s comment. because God knew that Asher would be the head of those who camp under the standard of Dan.²³Asher pitched next to Dan and was therefore next in importance under that standard. Gad was third under the standard of Reuben. See Num. 2:14,27. Scripture then mentions Gad because he was the first-born of Leah’s handmaid.²⁴See Gen. 30:10,11.