I very much dispute that Israel FORCED labour on people like the egyptians did. They were very clear what was required of a bondservant or bondmaid. And to love them as they loved themselves..bonus, if a bondmaid or bondservant loves their master, they are yours for life and even can become part of the family. If you treat them cruelly, they are going to run away, and then you wont have any servants at all.
It was in their interests to treat a bondmaid or bondservant with respect, and even their children for example Ishmael was STILL blessed by God even though he couldnt inherit abrahams firstborn blessing as an heir. And then wasnt it Isaac, if he was not going to have chikdren, would have passed on his inheritance to elizier his servant.
What about Ruth? She a foreigner, went to work for Boaz gleaning in the fields. BOaz could have made her his maidservant as she was a foreigner. Instead he loved her so much he was prepared to marry her, and he did.