Sforno on Numbers 10:31/ספורנו על במדבר י׳:ל״א

1 אל נא תעזוב אותנו. At least allow your children to go with us,

2כי על כן ידעת חנותנו במדבר, for this was the purpose of your getting familiar with our ways in the desert. If your children depart also you will be desecrating the name of the Lord among the nations as they will say: “if Yitro would have seen any merit in this religion surely he and his sons would not have abandoned them!” Both Yitro and his sons agreed with this argument of Moses so that in the end only Yitro returned to his country, as we know from Exodus 18,27 “Moses saw his father-in-law Yitro off, and he went by himself back to his own country.” There is no question that his children remained with the Jewish people, as the Book of Judges testifies when writing about “the children of the Keyni, the father-in-law of Moses, having previously ascended from the city of palms with the tribe of Yehudah.” (Judges 1,16).