إِذْ رَفَعْنَا الْجِمَالَ مِنْ سَعَفِ الْبَحْرَيْنِ سَيْرًا حَتَّى نَهَاهَا الْحِسَاءُ
Meaning: When we drove our camels swiftly from the palm country of Bahrain, until they reached the region called al-Ḥisāʾ.
Rafaʿnā al-jimāl means driving the camels onward at pace. Saʿaf al-Baḥrayn refers to date-palm fronds associated with the region; al-Ḥisāʾ is a named locality associated here with sand and accessible water.
These place references give the memory of raiding a sense of distance and duration. They are not a precise modern route map.