burned incense

Why people burn incense can be stated clearly. Alternate translation: "burned incense to false gods" (See: rc://en/ta/man/jit/figs-explicit)

you would not listen to his voice

Here "voice" refers to Yahweh's commands. Alternate translation: "you would not obey his commands" (See: rc://en/ta/man/jit/figs-metonymy)