When Israel became stronger, they pressed the Canaanites into forced labor, but they never drove them out completely.

Judges 1:27
At that time Manasseh failed to drive out the inhabitants of Beth-shean, Taanach, Dor, Ibleam, Megiddo, and their villages; for the Canaanites were determined to dwell in that land.

Judges 1:29
Ephraim also failed to drive out the Canaanites living in Gezer; so the Canaanites continued to dwell among them in Gezer.

1 Kings 9:21
their descendants who remained in the land, those whom the Israelites were unable to devote to destruction--Solomon conscripted these people to be forced laborers, as they are to this day.

Proverbs 12:24
The hand of the diligent will rule, but laziness ends in forced labor.

And it came to pass, when Israel was strong, that they put the Canaanites to tribute, and did not utterly drive them out.