(Devarim 22:10) "You shall not plow with an ox and an ass together": I might think, never, but (Shemoth 23:12) "so that there rest (from labor) your ox and your ass" indicates that labor is being referred to. If so, why is "together" written? For I might think that only ox and ass are intended. Whence do I derive (the same for) other beasts and for animals and birds? From "together" — in any event (i.e., it is not the type of animal, but labor that is the criterion). If so, why is it written "with an ox and an ass"? To teach that you may not plow with an ox and an ass, but you may plow with a man and an ass (i.e., by some arrangement where the man directs the animal in its plowing.)
Delight of Shabbat
Sifrei Devarim 231:1