The men at the campfire could be heard singing. The men could be heard at the campfire singing. The men at the campfire singing could be heard.
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Anonymous-A1 and A2 are OK. A1 is better. A3 is wrong.
A.1.The men at the campfire could be heard singing.
A.2.The men could be heard at the campfire singing.
A.3.The men at the campfire singing could be heard.