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Baalah ... Kiriath Jearim

These are the names of places. "Baalah" is another name for Kiriath Jearim.

to bring up from there the ark of God

"to take to Jerusalem the ark of God"

to bring up from there

Jerusalem is higher than almost any other place in Israel, so it was normal for Israelites to speak of going up to Jerusalem and going down from it.

which is called by Yahweh's name

"which bears Yahweh's name"

who sits enthroned over the cherubim

"who sits on his throne above the cherubim on the ark of the covenant"