'Forced' in the Bible
Whenever Israel was strong militarily, they forced the Canaanites to do hard labor, but they never totally conquered them.
The men of Zebulun did not conquer the people living in Kitron and Nahalol. The Canaanites lived among them and were forced to do hard labor.
The men of Naphtali did not conquer the people living in Beth Shemesh or Beth Anath. They live among the Canaanites residing in the land. The Canaanites living in Beth Shemesh and Beth Anath were forced to do hard labor for them.
The Amorites forced the people of Dan to live in the hill country. They did not allow them to live in the coastal plain.
The Amorites managed to remain in Har Heres, Aijalon, and Shaalbim. Whenever the tribe of Joseph was strong militarily, the Amorites were forced to do hard labor.