In the incident, two planted devices exploded, the second of which killed and wounded the soldiers.
The IDF should swiftly investigate what happened and hold people accountable, Matthew Miller said.
A video circulating on social media and verified by Reuters showed a Palestinian resident of Jenin, Mujahed Azmi, on the jeep that passes through two ambulances.
The events captured in the video reportedly occurred in the West Bank Palestinian city of Jenin.
Netanyahu sets date for US congress address • US turns to international community to pressure Hamas on hostage deal
The health ministry identified one of the Palestinians as Muhammad Hafez Rafiq Abu Bakr, aged 24 years old. He died of a critical bullet wound sustained from the exchange of fire.
During the operation, forces exchanged fire with terrorists, some of which were identified as being hit, the IDF said.
The strike, which was done with real-time intelligence by the Shin Bet, killed Islaam Hamaisa, one of the commanders of the Palestinian Islamic Jihad's Jenin Brigade.
The military released a photo of two automatic rifles that it said were used by several gunmen to shoot at the soldiers, at an outpost near the flashpoint Palestinian city of Jenin.
According to Palestinian reports, a man was accused of collaborating with Israelis was executed, with the execution led by his brother.
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