Parashas Shemos
וַיְהִי֩ בַיָּמִ֨ים הָֽרַבִּ֜ים הָהֵ֗ם וַיָּ֙מׇת֙ מֶ֣לֶךְ מִצְרַ֔יִם וַיֵּאָנְח֧וּ בְנֵֽי־יִשְׂרָאֵ֛ל מִן־הָעֲבֹדָ֖ה וַיִּזְעָ֑קוּ וַתַּ֧עַל שַׁוְעָתָ֛ם אֶל־הָאֱלֹהִ֖ים מִן־הָעֲבֹדָֽה׃
A long time after that, the king of Egypt died. The Israelites were groaning under the bondage and cried out; and their cry for help from the bondage rose up to God.
Torah Temimah points to baraisa / TT on 2:23 (verified).
ויהי בימים וגו׳ — תני: מתוך חמשה דברים נגאלו ישראל ממצרים: מתוך הקץ, מתוך צרה, מתוך צוחה, מתוך זכות אבות, מתוך התשובה.
English: “And it was in those many days\ldots” — it was taught: Israel was redeemed from Egypt through five things: through the appointed end, through distress, through crying out, through the merit of the fathers, and through repentance.
Custom
Chazal enumerate five concurrent factors that brought about the redemption from Egypt.