Why were God’s reactions so different in Exodus 4:24-26 and Joshua 5:2 concerning circumcision?

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Exodus 4:24 At a lodging place on the way, the Lord met Moses and was about to kill him. 25But Zipporah took a flint knife, cut off her son’s foreskin and touched Moses’ feet with it. “Surely you are a bridegroom of blood to me,” she said. 26So the Lord let him alone. (At that time she said “bridegroom of blood,” referring to circumcision.)

God wanted to kill Moses for not circumcising his son.

Joshua 5:2 At that time the Lord said to Joshua, “Make flint knives and circumcise the Israelites again.” 3So Joshua made flint knives and circumcised the Israelites at Gibeath Haaraloth.

How to explain the difference in God’s reactions to non-circumcision? Why didn’t God just order Moses to circumcise his son?