'Forced Labor' in the Bible

And it happened, when Israel grew strong, they put the Canaanites to forced labor, but they never totally drove them out.

Zebulun did not drive out the inhabitants of Kitron or Nahalol, so the Canaanites lived in their midst and became [subjected] to forced labor.

Naphtali did not drive out the inhabitants of Beth Shemesh or Beth-anath, but lived in the midst of the Canaanites, the inhabitants of the land; the inhabitants of Beth Shemesh and Beth-anath became forced labor for them.

the Amorites [were] determined to live in Har-heres, in Aijalon, and in Shaalbim, but the hand of the house of Joseph was heavy [on them], and they became [subjected] to forced labor.