וְאֶת־יְהוּדָ֞ה שָׁלַ֤ח לְפָנָיו֙ אֶל־יוֹסֵ֔ף לְהוֹרֹ֥ת לְפָנָ֖יו גֹּ֑שְׁנָה וַיָּבֹ֖אוּ אַ֥רְצָה גֹּֽשֶׁן׃
At si Juda ay sinugo niyang mauna sa kanya kay Jose, upang maghanda para sa kanya sa Gosen bago siya dumating; at dumating sila sa lupain ng Gosen.
Rashi
להורת לפניו TO DIRECT HIM — Render this as the Targum does: to prepare a place for him and to show him how he should settle in it.
Alshekh
They then came to the land of Goshen. Yoseif and Yehudah went to Goshen to prepare a place for Yaakov and it was from there that Yoseif went to greet him.
Chizkuni
ואת יהודה שלח לפניו אל יוסף, “and he (Yaakov) had sent Yehudah ahead to Joseph;” so that he would be informed about which route to travel to the province of Goshen and thus to avoid entering Egypt proper. Joseph had already told him that he would live there in order to be close to Joseph (Genesis 45,6).
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לפניו BEFORE HIM — means before he should arrive there. A Midrashic comment is: להורת לפניו (in the sense of, “that there might be teaching before him”) — to establish for him a House of Study from which Teaching (הוראה or תורה) might go forth (Genesis Rabbah 95:3).