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If now I have found favor in your eyes
Here "found favor" is an idiom that means be approved of or that God is pleased with Moses. Here "eyes" are a metonym for sight, and sight is a metaphor representing his evaluation. See how you translated this in Exodus 33:12. AT: "Now If you are pleased with me" or "Now if you approve of me" (See: rc://en/ta/man/translate/figs-idiom and rc://en/ta/man/translate/figs-metonymy and rc://en/ta/man/translate/figs-metaphor)
our iniquity and our sin
The words "iniquity" and "sin" mean basically the same thing and are combined for emphasis. AT: "all our sins" (See: rc://en/ta/man/translate/figs-doublet)
take us as your inheritance
Something that someone possesses forever is spoken of as if it were something that they had inherited. AT: "take us as the people that you possess forever" or "accept us as the people who belong to you forever" (See: rc://en/ta/man/translate/figs-metaphor)