What order did they depart in?
Answer From The Annual Reading Schedule - Week 34 Notes For Numbers:
1st - Yehudah (Judah), Yissaskhar (Issachar), Zevulun (Zebulun)
2nd - The sons of Gereshon (Gershon) and the sons of Merari with the Dwelling Place
3rd - Re'uven (Reuben), Shim'on (Simeon), Gad
4th - The Qehathites (Kohathites) with the set-apart objects
5th – Ephrayim (Ephraim), Menashsheh (Manasseh), Binyamin (Benjamin)
6th – Dan, Asher, Naphtali
(Numbers 10:14-28)
2nd - The sons of Gereshon (Gershon) and the sons of Merari with the Dwelling Place
3rd - Re'uven (Reuben), Shim'on (Simeon), Gad
4th - The Qehathites (Kohathites) with the set-apart objects
5th – Ephrayim (Ephraim), Menashsheh (Manasseh), Binyamin (Benjamin)
6th – Dan, Asher, Naphtali
(Numbers 10:14-28)