Joshua 17:13

But after the sons of Israel had grown strong, they subdued the Canaanites, and made them their tributaries, but they did not kill them

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Yet it came to pass, when the children of Israel were waxen strong, that they put the Canaanites to tribute; but did not utterly drive them out.

Now when the people of Israel grew strong, they put the Canaanites to forced labor, but did not utterly drive them out.

However, when the Israelites grew stronger, they subjected the Canaanites to forced labor but did not drive them out completely.