Which verse did the Prophet explain to the Companions, and what is the meaning of tafsir (exegesis) and ta’wil (interpretation), and what is the difference between them?

The Prophet, may Allah's prayers and peace be upon him, did not explain the entire Quran, but rather he explained many of its verses. Among these is his explanation of the Almighty's saying: ﴿Those who believe and do not mix their faith with injustice (zulm)﴾ [Al-An'am: 82], where he clarified that injustice here refers to polytheism (shirk), citing Luqman's saying to his son: ﴿O my son, do not associate partners with Allah. Indeed, associating partners with Allah is a tremendous injustice (zulm)﴾ [Luqman: 13].