Moshe's spies are the concept of purifying the emotional attributes, love and fear of Hashem, therefore it included scouting out all seven nations. 

Yehoshua's spies to Yericho correspond to the 'garments' of thought speech and action ריחה דלבושייכו וירח את ריח בבגדיו וכו׳

Yehoshu's spies were obligatory since everyone has to examine their 'garments' of thought speech and action to make sure they are proper. בכל זמן יהיו בגדיך לבנים.

Moshe's spies were not obligatory, however, since some are bound to constantly struggle with their emotions. Not everyone is able to change their emotional state and become internally righteous.

From Ohr Hatorah the 3rd Shelach Lecho

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