Joshua 17:13

And it came to pass that when the children of Israel were strong, they made the Chananites subject, but they did not utterly destroy them.

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.

When the children of Israel had grown strong, they put the Canaanites to forced labor, and didn’t utterly drive them out.