14 Simeon has declared how God at the first did visit the Gentiles, to take out of them a people for his name.
15 And to this agree the words of the prophets; as it is written,
16 After this I will return, and will build again the tabernacle of David, which is fallen down; and I will build again the ruins thereof, and I will set it up:
17 That the residue of men might seek after the Lord, and all the Gentiles, upon whom my name is called, says the Lord, who doeth all these things.
18 Known unto God are all his works from the beginning of the world.
19 Wherefore my sentence is, that we trouble not them, which from among the Gentiles are turned to God:
20 But that we write unto them, that they abstain from pollutions of idols, and from fornication, and from things strangled, and from blood.

James explains that Gentiles do not need to become full converts to Judaism to be acceptable before God. Rather, as long as the Gentiles follows the seven Noahide laws they can fellowship and learn as they go.

21 For Moses of old time hath in every city them that preach him, being read in the synagogues every Sabbath day.

The Gentiles were allowed to attend synagogue every Sabbath to learn, The school of Hillel (along with believers in "the Way") promoted the idea of the Jewish people being "a light" to the Gentiles, and did not isolate themselves from them.  That had been God’s intention from the beginning.

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