Rashi in Mispatim explains on לא אנה לידו, was not done intentionally. Two individuals where one kills intentionally and the other by accident are invited by Hashem to a motel. The one who kills intentionally sleeps below in a bunkbed and the other above. The one sleeping above falls on the one below with witnesses present and killing him. Now the one who killed intentionally is dead and the other one ends up in arei miklat.
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