A.B. Simpson explores the theme of millennial inheritance in 'Joshua Chapter 17 the Millennial Inheritance,' emphasizing the connection between the earthly Canaan and the heavenly inheritance promised to believers. He highlights that while Canaan was a land of conflict, heaven represents a place of ultimate victory and rest, free from adversaries. Simpson asserts that the true Joshua, Jesus Christ, will usher in this millennial glory, and only those who exhibit faith and obedience will inherit this promise. He encourages believers to prepare for the coming of the Lord, which will bring both conflict and victory, ultimately leading to the fulfillment of God's promises and the eternal presence of Christ as our inheritance.