John Gill Commentary Deuteronomy 24:12

"And if he be a poor man, thou shalt not sleep with his pledge;" — Deuteronomy 24:12 (ASV)

And if the man [be] poor
Which may be thought to be the case of everyone that gives pledges for a debt he owes, or a sum of money he borrows; yet there might be a difference: some might be so very destitute of goods and raiment in their houses, that whatever they parted with was distressing to them, and they could not well do without it:

you shall not sleep with his pledge ;
nor keep it a night; but deliver it to him, before he went to bed, and laid himself down to sleep.