1:30a Zebulun failed to drive out the inhabitants of Kitron and Nahalol;

The clan of Zebulun could not force the people of Canaan who lived in Kitron and Nahalol to leave.
-or-
⌊The same thing happened to⌋ the descendants of Zebulun. They were not able to defeat the people of Canaan in the towns of Kitron and Nahalol. They could not send them away.

1:30b so the Canaanites lived among them

So the people of Zebulun and the people of Canaan continued to live together.
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These people of Canaan stayed in the same land with the clan of Zebulun.

1:30c and served as forced laborers.

But the people of Zebulun forced the Canaanites to work as slaves.
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The clan of Zebulun made the people of these towns be slaves to work ⌊for them⌋ .

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