“These false teachers have abandoned the right way and have gone astray to follow.” The false teachers have refused to be obedient to God because they have rejected what is right.
Right behavior that honors God is spoken of as if it were a path to follow. (See: rc://en/ta/man/translate/figs-metaphor)
You can specify it was God who rebuked Balaam. AT: “God rebuked him” (See: rc://en/ta/man/translate/figs-abstractnouns)
A donkey, which is naturally unable to speak, spoke with a voice like a human.
God used a donkey to stop the prophet’s foolish action. (See: rc://en/ta/man/translate/figs-metonymy)