Rashi on TanakhPsalms 26

Judge me And elsewhere (143:2) he says, “You shall not enter judgment [with Your servant].” Said David: When You judge the wicked, judge me, for compared to the wicked, I am a righteous man, but when You judge the righteous, do not bring me into judgment.

and...with hypocrites who go into hidden places to do their deeds in the dark.

neither did I go I am not accustomed to come and enter their assembly.

with cleanliness For there is no robbery [involved] in my fulfillment of the commandments.

To proclaim Heb. לַשְׁמִעַ, like לְהַשְׁמִיעַ.

all Your wonders This refers to Hallel, which contains mention of the past, mention of Gog and Magog, mention of the Messianic era, and mention of the future.

plots Heb. זמה. Every זמה in Scripture is an expression of a plan, some for good and some for evil.

My foot stood on a straight path Heb. במישור, on a straight path.