Exodus 23:17 - Matthew Poole's English Annotations on the Holy Bible

To wit, such as are of competent years, and health, and strength, and such as were at their own dispose; for that servants were not bound to this may seem probable, because none of these concerned were to appear before the Lord empty, or without an offering, but the generality of servants had not any thing to offer. And the care and management of their domestic affairs did require the presence and care of many of their males. Before the Lord God, i.e. in that place where God shall record his name, Exodus 20:24, as the tabernacle or temple.