Charles Ellicott Commentary Genesis 38:23

"And Judah said, Let her take it to her, lest we be put to shame: behold, I sent this kid, and thou hast not found her." — Genesis 38:23 (ASV)

Lest we be shamed. —Maimonides asserts that Judah had committed no breach of the Law, the utmost commanded in it being that no Jewish woman should become a kedeshah (Deuteronomy 23:17). But Judah evidently regards what he had done as shameful, and having his friend’s testimony, if needed, to prove that he had performed what he promised, he bears with the loss of his signet and staff, rather than let the people know that he had been guilty of an act which they too would condemn.