The most prominent theme (in my humble opinion) is the list of places visited by Israel as they traveled through the desert.
The Kabbalah teaches that the 42 journeys listed correspond to the journeys of the soul through this world. From when it leaves the womb (Egypt) until it enters the supernal & eternal life (Israel).
The Parshah then mentions the borders of the land given to the Jews (seems like its replaying right now in New Paltz).
Then the concept of the "Cities of Refuge" – a concept not really copied by other philosophies and/or nations.
The concept is that if someone killed someone else by accident. Even though there is no punishment. The person still needs to move to one of these cities until the end of an era – defined as when the Kohen Gadol passes away