John Wesley on Exodus 20:22

Moses being gone into the thick darkness where God was, God there spoke in his hearing only, all that follows from hence to the end of chap. 23, which is mostly an exposition of the ten commandments; and he was to transmit it to the people. The laws in these verses relate to God's worship. Ye have seen that I have talked with you from heaven - Such was his wonderful condescension; ye shall not make gods of silver - This repetition of the second commandment comes in here, because they were more addicted to idolatry than to any other sin.