The Jews in the desert implemented Yisro's "chiefs" system to act as judges, but we know at some point the nation transitioned to the courts system with judges of 3, 23, 71, etc. At what point and why did this transition occur? Or were the two systems operated in parallel and related to each other? If so, what was their relationship, and what happened to the "chiefs" aspect of the system, which seems to have been dropped at some point?
Similar question here, but I don't think it answers my questions. Thanks in advance for any answers!