Servitude like what a maid does is slavery if you ask me. This whole distinction between slave and servant is new and European in nature. Going back to Asian culture there has never been a distinction, ever(as far as I know).
Domestic servants in Europe are Employees and have the same rights as any other employee.
When I was small my mother always employed a house maid to help her.
My Maternal Grand father. had a Cook housekeeper, a butler, a nanny, a chauffeur and two gardeners. My Paternal Grand father had a large household with a governess, butler, ladies maid footman ,housekeeper, kitchen staff, housemaids, laundry staff, gardeners, stable hands and coach men.
None were slaves all were paid, all were free to leave.
Times have changed and it has been very unusual to have a fully staffed house since the 1920's.
Servants were never treated as Sex slaves. Though some were known to be seduced by both members of families, and by house staff.