Numbers 35:27
and the blood avenger finds him outside the town of refuge where he had fled and kills him, the blood avenger is not to be found guilty of murder.
Exodus 22:2
"If a thief is found while breaking into a house, and is struck down and dies, it is not a capital crime in that case,
Deuteronomy 19:6
Since hile the distance may be great, the angry avenger may overtake the killer he is pursuing and kill him, in which case there will be no justice in his death, because he did not hate his friend previously.
Deuteronomy 19:10
You must not shed innocent blood on your land that the LORD your God is about to give you as an inheritance. Otherwise, you'll be guilty of murder."