"Va'Yasa Moshe" is a verb in the causative (Hif'il). Why did Moshe need to force Yisrael to travel?
Rashi: Because the Egyptians had adorned their horses with gold and silver ornaments and with precious stones, 1 which Yisrael found in the sea and were busy collecting. 2
Refer to 15:9:151:2.
Rashi: Because the booty of the sea exceeded that of Egypt, as the Pasuk hints in Shir ha'Shirim 1:11. (Everyone left Egypt with ninety laden donkeys. How could they take more than this from what was on the horses? This is in order according to the opinion that there were fifteen hundred Egyptians for each Yisrael - Refer to 14:7:2:3*. Or if the booty of the sea (silver, gold and gems) was worth more than that of Egypt, which was mostly clothing. - PF )
Why did the people complain about not having water, only after three days?
Targum Yonasan, Da'as Zekenim #1, Hadar Zekenim and Rosh: 'Water' refers to Torah 1 (Mitzvos - Targum Yonasan). After three days without Torah, they rebelled. 2
Da'as Zekenim #2: Because they took water from Egypt, and after three days it ran out. 3
Bava Kama 82a: As the Pasuk writes, "Hoy Kol Tzamei Lechu la'Mayim" (Yeshayah 55:1). See Torah Temimah, note 34 DH 'v'Dareshu.'
Bava Kama (ibid.): That is why the Chachamim enacted to read the Torah publicly on Monday, Thursday and Shabbos, so that three days should not pass without Torah. See Torah Temimah, note 34, who elaborates. For Maharal, see below.
Da'as Zekenim: And their sin was that they should have consulted [Moshe] before complaining.
The Gemara (Bava Kama 82a) expounds that the reason Bnei Yisrael became weary, was because they had gone three days without the study of Torah! Why did this occur?
Maharal (Tif'eres Yisrael, end Ch. 56, p. 172): Torah is the Tzurah of Yisrael. Once three days passed without Torah, they were left without Tzurah. As such, they tended towards being Chomer - such that outside influences had an effect on them, and they became weary and thirsty. 1 That is why they instituted regular Torah reading. 2
Maharal frequently uses these terms, "Chomer" and "Tzurah." Chomer (raw material) is open to receiving a Tzurah (a function-defined form); the Tzurah takes hold in the Chomer, bringing it out from potential to actualization. For example, in a knife, the raw iron is its Chomer, and its sharp-edged shape is the Tzurah is that allows it to utilize its potential, and fulfill its function. Maharal writes that Torah is the Tzurah of Yisrael. It seems to me that the source for this is the language of the Gemara (loc. cit.),"Once they had travelled for three days, they became weary (Nil'u)" - implying that when Yisrael lack Torah, they lose their Tzurah; they are unable to function. (EK) Why did this occur specifically due to [a hiatus of] three days? See Maharal in other contexts (Netzach Yisrael, beg. Ch. 26, p. 130) - A distance of less than three days' journey is not considered "Rachok" (distant); see examples there. Maharal (Derech Chayim p. 186, to Avos 4:14) - The Aron ha'Bris travelled in front of Bnei Yisrael by three days' distance (and no more), so as not to lose the connection between the Torah and Yisrael (up to three days is not considered distant). Maharal (Ohr Chadash, p. 57) - A space of less than three is not considered a separation; e.g., the Din of Lavud (see more in Maharal Chidushei Agados Vol. 4, p. 110, to Chulin 91b).
Maharal (Chidushei Agados Vol. 3, p. 12, to Bava Kama 82a): Keri'as ha'Torah was instituted specifically on Yom Sheni and Chamishi, which are days of Din; see there.