Please critique draft 2 of my poem, Joshua?

I think you are on the right track about changing that line three. The Biblical Moses was not limping because his strength was not diminished though it would seem uncharacteristic by today's standards. Joshua's courage and purposefulness could be shown that the glory was not his but God's. I am a bit hung up on the actual story. What you describe is well put and you seem to make the iambic pentameter work for you.