17:12a

But the descendants of Manasseh were unable to occupy these cities: The phrase the descendants of Manasseh refers to the clan of Manasseh.

But the clan of Manasseh was not able to conquer those towns
-or-
But the descendants of Manasseh clan could not make the ⌊Canaanite⌋ people leave those towns

17:12b

because the Canaanites were determined to stay in this land: Here are some other ways to translate this part of the verse:

The people of Canaan were determined to live in the land
-or-
The Canaan people continued to live there

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