As salamu 'alaikkum, here is the tafsir I found about the ayah, walhamdulillah. I will keep adding more stuff related to this topic in shaAllah from a bit of research
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The Command to Worship Allah Alone and to be Dutiful to One's Parents
Allah commands us to worship Him alone, with no partner or associate. The word Qada [normally having the meaning of decree] here means "commanded''. Mujahid said that
[وَقُضِىَ]
(And He has Qada) means enjoined. This is also how Ubayy bin Ka`b, Ibn Mas`ud and Ad-Dahhak bin Muzahim recited the Ayah as:
«وَوَصَّى رَبُّكَ أَلَّا تَعْبُدُوا إِلَّا إِيَّاه»
"And your Lord has Wassa [enjoined] that you worship none but Him.'' The idea of worshipping Allah is connected to the idea of honoring one's parents. Allah says:
[وَبِالْوَلِدَيْنِ إِحْسَانًا]
(And that you be dutiful to your parents.) Here He commands good treatment of parents, as He says elsewhere:
[أَنِ اشْكُرْ لِى وَلِوَلِدَيْكَ إِلَىَّ الْمَصِيرُ]
(give thanks to Me and to your parents. Unto Me is the final destination) [31:14]
[إِمَّا يَبْلُغَنَّ عِندَكَ الْكِبَرَ أَحَدُهُمَا أَوْ كِلاَهُمَا فَلاَ تَقُل لَّهُمَآ أُفٍّ]
(If one of them or both of them attain old age in your life, say not to them a word of disrespect,) means, do not let them hear anything offensive from you, not even say "Uff!'' which is the mildest word of disrespect,
[وَلاَ تَنْهَرْهُمَا]
(and do not reprimand them) means, do not do anything horrible to them.
[وَلاَ تَنْهَرْهُمَا]
(and do not reprimand them) `Ata' bin Rabah said that it meant, "Do not raise your hand against them.'' When Allah forbids speaking and behaving in an obnoxious manner, He commands speaking and behaving in a good manner, so He says:
[وَقُل لَّهُمَا قَوْلاً كَرِيمًا]
(but address them in terms of honor.) meaning gently, kindly, politely, and with respect and appreciation.
[وَاخْفِضْ لَهُمَا جَنَاحَ الذُّلِّ مِنَ الرَّحْمَةِ]
(And lower unto them the wing of submission and humility through mercy,) means, be humble towards them in your actions.
[وَقُل رَّبِّ ارْحَمْهُمَا كَمَا رَبَّيَانِى صَغِيرًا]
(and say: "My Lord! Bestow on them Your Mercy as they did bring me up when I was young.'') means, say this when they grow old and when they die. Ibn `Abbas said: "But then Allah revealed:
[مَا كَانَ لِلنَّبِىِّ وَالَّذِينَ ءَامَنُواْ أَن يَسْتَغْفِرُواْ لِلْمُشْرِكِينَ]
(It is not (proper) for the Prophet and those who believe to ask Allah's forgiveness for the idolators. ..)'' [9:13] There are many Hadiths which speak about honoring one's parents, such as the Hadith narrated through a number of chains of narration from Anas and others, which states that the Prophet climbed up on the Minbar, and then said, ((Amin, Amin, Amin.)) It was said, "O Messenger of Allah, why did you say Amin'' He said:
«أَتَانِي جِبْرِيلُ فَقَالَ: يَا مُحَمَّدُ رَغِمَ أَنْفُ رَجُلٍ ذُكِرْتَ عِنْدَهُ فَلَمْمُيصَلِّ عَلَيْكَ، قُلْ: آمِينَ، فَقُلْتُ: آمِينَ، ثُمَّ قَالَ: رَغِمَ أَنْفُ رَجُلٍ دَخَلَ عَلَيْهِ شَهْرُ رَمَضَانَ ثُمَّ خَرَجَ فَلَمْ يُغْفَرْ لَهُ، قُلْ: آمِينَ، فَقُلْتُ: آمِينَ، ثُمَّ قَالَ: رَغِمَ أَنْفُ رَجُلٍ أَدْرَكَ وَالِدَيْهِ أَوْ أَحَدَهُمَا فَلَمْ يُدْخِلَاهُ الْجَنَّةَ، قُلْ: آمِينَ، فَقُلْتُ: آمِين»
(Jibril came to me and said, "O Muhammad, he is doomed who hears you mentioned and does not say Salla upon you.'' He said, "Say Amin,'' so I said Amin. Then he said, "He is doomed who sees the month of Ramadan come and go, and he has not been forgiven.'' He said, "Say Amin,'' so I said Amin. Then he said, "He is doomed who grows up and both his parents or one of them are still alive, and they do not cause him to enter Paradise.'' He said, "Say Amin,'' so I said Amin.)
Another Hadith Imam Ahmad reported from Abu Hurayrah that the Prophet said:
«رَغِمَ أَنْفُ، ثُمَّ رَغِمَ أَنْفُ ثُمَّ رَغِمَ أَنْفُ رَجُلٍ أَدْرَكَ أَحَدَ أَبَوَيْهِ أَوْ (كِلَيْهِمَا) عِنْدَ الْكِبَرِ وَلَمْ يَدْخُلِ الْجَنَّة»
(He is doomed, he is doomed, he is doomed, the man whose parents, one or both of them, reach old age while he is alive and he does not enter Paradise.) This version is Sahih although no one recorded it other than Muslim.
Another Hadith
Imam Ahmad recorded Mu`awiyah bin Jahimah As-Salami saying that Jahimah came to the Prophet and said: "O Messenger of Allah, I want to go out to fight and I have come to seek your advice.'' He said,
«فَهَلْ لَكَ مِنْ أُم»
(Do you have a mother) He said, "Yes.'' The Prophet said,
«فَالْزَمْهَا فَإِنَّ الْجَنَّةَ عِنْدَ رِجْلَيْهَا»
(Then stay with her, for Paradise is at her feet.) Similar incidents were also recorded by others. This was recorded by An-Nasa'i and Ibn Majah.
Imam Ahmad recorded that Al-Miqdam bin Ma`dikarib said that the Prophet said:
«إِنَّ اللهَ يُوصِيكُمْ بِآبَائِكُمْ إِنَّ اللهَ يُوصِيكُمْ بِأُمَّهَاتِكُمْ إِنَّ اللهَ يُوصِيكُمْ بِأُمَّهَاتِكُمْ إِنَّ اللهَ يُوصِيكُمْ بِأُمَّهَاتِكُمْ إِنَّ اللهَ يُوصِيكُمْ بِالْأَقْرَبِ فَالْأَقْرَب»
(Allah enjoins you concerning your fathers, Allah enjoins you concerning your mothers, Allah enjoins you concerning your mothers, Allah enjoins you concerning your mothers, Allah enjoins you concerning your close relatives then the next in closeness.) This was recorded by Ibn Majah from the Hadith of `Abdullah bin `Ayyash.
Ahmad recorded that a man from Banu Yarbu` said: "I came to the Prophet while he was talking to the people, and I heard him saying,
«يَدُ الْمُعْطِي الْعُلْيَا، أُمَّكَ وَأَبَاكَ، وَأُخْتَكَ وَأَخَاكَ، ثُمَّ أَدْنَاكَ أَدْنَاك»
(The hand of the one who gives is superior. (Give to) your mother and your father, your sister and your brother, then the closest and next closest.)''
[رَّبُّكُمْ أَعْلَمُ بِمَا فِى نُفُوسِكُمْ إِن تَكُونُواْ صَـلِحِينَ فَإِنَّهُ كَانَ لِلاٌّوَّابِينَ غَفُوراً ]
(25. Your Lord knows best what is in your souls. If you are righteous, then, verily, He is Ever Most Forgiving to those who turn to Him in repentance.)
Extra stuff...
وَقُل لَّهُمَا قَوۡلاً۬ ڪَرِيمً۬ا - but address them in terms of honor
Abu Baddaah al-Tajeebi said:
“I said to Sa’eed ibn al-Musayyab: ‘I understood everything in the Qur’an about respecting one’s parents, apart from the aayah “But address them in terms of honour” [al-Isra’ 17:23]. What are these terms of honour [al-qawl al-kareem]?’
Ibn al-Musayyab said: ‘It is the way in which a slave who has done wrong approaches a harsh and strict master.’”
فَلَا تَقُل لَّهُمَآ أُفٍّ۬ - say not to them a “uff”” With regards to “uff...” then what does this mean? Al-Baghawi (may Allah have mercy on him) said:
“This means not saying anything that may contain the slightest hint of irritation. [The word ‘uff’ in the aayah, translated here as ‘a word of disrespect’] comes from the word ‘aff’, which is similar to the word ‘taff’; both words refer to the dirt that collects under fingernails, and [in Arabic] when one is annoyed and fed up with something, one says ‘uff!’ to it.”
Ibn ‘Abbas said:
“This means treating them with respect and kindness, and lowering the wing of humility to them, not answering them harshly or glaring at them, not raising one's voice to them, but being as humble towards them as a slave towards his master.”
It was narrated that Abu Hurayrah (may Allaah be pleased with him) said: “A man came to the Messenger of Allaah (peace and blessings of Allaah be upon him) and said: ‘O Messenger of Allaah, who among the people is most deserving of my good company?’ He said, ‘Your mother.’ He asked, ‘Then who?’ He said, ‘Your mother.’ He asked, ‘Then who?’ He said, ‘Your mother.’ He asked, ‘Then who?’ He said, ‘Then your father.’”
(Narrated by al-Bukhaari, 5626; Muslim, 2548)
Al- Haafiz ibn Hajar said:
“Ibn Battaal said: what this means is that the mother should be honoured three times more than the father. He said, that is because of the difficulties of pregnancy, then giving birth, then breastfeeding. These are hardships that are experienced only by the mother, then the father shares with her in raising the child.
This is also referred to in the aayah (interpretation of the meaning):
وَوَصَّيۡنَا ٱلۡإِنسَـٰنَ بِوَٲلِدَيۡهِ حَمَلَتۡهُ أُمُّهُ ۥ وَهۡنًا عَلَىٰ وَهۡنٍ۬ وَفِصَـٰلُهُ ۥ فِى عَامَيۡنِ أَنِ ٱشۡڪُرۡ لِى وَلِوَٲلِدَيۡكَ إِلَىَّ ٱلۡمَصِيرُ (١٤)
‘And We have enjoined on man (to be dutiful and good) to his parents. His mother bore him in weakness and hardship upon weakness and hardship, and his weaning is in two years’
[Luqmaan 31:14]
So the recommendation to be dutiful and good refers to both parents, but the mother’s share is greater because of the three things mentioned above. Al-Qurtubi said: what is meant is that the mother deserves a greater share of her child’s honour, and her rights take precedence over those of the father in cases where a choice must be made. ‘Iyaad said: the majority of scholars were of the view that the mother takes precedence over the father in terms of honouring one’s parents. And it was said that both must be honoured equally, and this was narrated by some from Maalik, but the former view is the one which is correct.”
(Fath al-Baari, 10/402).
I hope I was of some help in shaAllah
