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What is the difference in meaning between לתור and לחפר with regards to spying the land?

I am combining concepts from this week's Torah and Haftarah: In the Torah portion, it says with the spies that they went לתור את הארץ (Bamidbar 13:16). With Yehoshu'a it says לחפר את הארץ (Yehoshu'a ...