Recommended Books Of Tafsir With Context
I found something that might be useful for anyone who might have similar question in future. Found this book called Maariful Quran: https://archive.org/details/MaarifulQuranEnglsih8Volumes/page/n1571/mode/2up It explains in detail the context and background of revelation. The mentioned verse 5:41 and its context is explained in detail in 15 pages on pages 1574 to 1588 explaining who the jew tribes were, what kind of decisions they were coming to Prophet for, why Allah is telling Prophet to judge or not judge and so on.