C. F. Keil and Franz Delitzsch on Judges 7:23

Jdg 7:23 Pursuit of the Enemy as far as the Jordan. - Jdg 7:23. As soon as the Midianites had been put to flight, the Israelitish men of Naphtali, Asher, and Manasseh, let themselves be convened for the purpose of pursuing them: i.e., the men of these tribes, whom Gideon had sent away before the battle, and who were on their way home, could be summoned back again in a very short time to join in the pursuit of the flying foe. The omission of Zebulun (Jdg 6:35) is, in all probability, simply to be attributed to the brevity of the account.