When Israel became stronger, they pressed the Canaanites into forced labor, but they never drove them out completely.
We are here told upon what terms the rest of the tribes stood with the Canaanites that remained. I. Benjamin neglected to drive the Jebusites out of that part of the city of Jerusalem which fell to their lot, Jdg 1:21. Judah had set them a good example, and gained them great advantages by what they did (Jdg 1:9), but they did not follow the blow for want of resolution.
Commenting on Judges 1:21-36
And it came to pass, when Israel was strong,.... All the tribes of Israel were become numerous, and able to drive the Canaanites out of the land everywhere, and particularly were able to assist Manasseh in expelling the Canaanites out of the above places, yet they did not; but all they did was: that they put the Canaanites to tribute, and did not utterly drive...
Jdg 1:28 As the Israelites grew strong, they made serfs of the Canaanites (see at Gen 49:15). When this took place is not stated; but at all events, it was only done gradually in the course of the epoch of the judges, and not for the first time during the reign of Solomon, as Bertheau supposes on the ground of 1Ki 9:20-22 and 1Ki 4:12...