Sforno on Numbers 22:20/ספורנו על במדבר כ״ב:כ׳

1אם לקרוא לך באו האנשים, if they only came in order to get your advice, as in Numbers 1,16 where such people who give advice are described as קרואי העדה, or in Samuel I 28,15 where a similar expression is used for advisors;

2go ahead and accompany them in order to prevent them from sinning.