Boyd’s Bible Dictionary:

Five different Hebrew words give it name in the Bible. A patient beast of burden, and palfrey for even kings (Gen. 22:3; 12:16; 36:24; 1 Chron. 27:30; Job 1:3; Zech. 9:9), which last is the prophecy of Christ’s entry into Jerusalem (Matt. 21:1-9).

Concise Bible Dictionary:

Equus Heminus
In the East the ass takes the place which the horse has among European nations. It is there a much more noble animal, and is declared to be a very intelligent one (compare Isa. 1:3). It is highly valued there and is well treated. It was used for riding both by men and women, and for carrying burdens. Among a man’s property the asses are often enumerated (Gen. 12:16; Job 1:3; Job 42:12; Ezra 2:67; Neh. 7:69). There are five Hebrew words used for the domestic and the wild ass, referring to its strength or to its color.
The “white asses” mentioned in Judges 5:10 are still greatly prized in the East. In some parts the flesh of the ass is highly esteemed for food, but it was forbidden as unclean to the Jews: was however eaten in the dire famine at the siege of Samaria (2 Kings 6:25).
THE WILD Ass is very wild and very swift. It is seldom tamed. It is thus a fit emblem of man’s natural birth (Job 11:12). Jehovah demanded of Job “Who hath sent out the wild ass free? or who hath loosed the bands of the wild ass?” (Job 39:5; compare Jer. 2:24; Dan. 5:21).

From Manners and Customs of the Bible:

Judges 5:10. Speak, ye that ride on white asses, ye that sit in judgment, and walk by the way.
There is no reason to interpret, as some writers do, the expression “white asses,” to mean asses covered with white caparisons. The intention is to indicate the wealth and luxury of the riders; and as asses wholly white, or even nearly so, are rare and costly, the men who own them must be classed among the rich and influential. Morier says that in Persia the Mollahs, or men of the law, consider it a dignity suited to their character to ride on white asses.

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