mitzvah - Did G-d command or not on sending the spies?

The Torah's Pshat in P. Shlach is very straightforward - G-d commands Moses to send the spies. There are plenty of other places where Moses (and Bney Israel) are commanded using לך language (e.g. ועשו להם ציצית). So that can be viewed as a one-time Mitzvah.

However, based on how Moses presents it 40 years later it seems like G-d is not clear about it ("לְדַעְתְּךָ, אֲנִי אֵינִי מְצַוֶּה לְךָ, אִם תִּרְצֶה שְׁלַח").

In my humble view, G-d has to be clear about what's good or what's bad for the people, pretty much dichotomic - yes or no.

So, how G-d is to be understood in this commandment?