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As far as I know, there is no written evidence that the inhabitants of ancient Numidia ever used the name themselves. So we have no way of knowing if it came from Latin, Greek or Phoenician, or from some unknown and long extinct language.

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If it was an indigenous name, it's pretty likely that it would be named after its inhabitants, and that their name (Numids?) probably meant "The People" or "Free People" - or of course they could have been named after some real or presumed ancestor, but we'll never know.