Who judged Israel all his life, traveling each year to Bethel, Gilgal and Mizpah?

Answer: Samuel

Samuel judged Israel all the days of his life, going on a yearly circuit to Bethel, Gilgal and Mizpah.

“So Samuel judged Israel all the days of his life. Every year he would go on a circuit from Bethel to Gilgal to Mizpah, judging Israel in all these places.”— 1 Samuel 7:15-16 (BSB)