The whole gig/services economy is just building this up piece-by-piece: you can now pick the set of household needs you want taken care of for varying levels of money; and practically everyone participates in one form or another. This is exactly a disaggregated 21st century version of servants: paying for convenience. Of course with many issues in implementation, but I don’t see the ethical/moral issue with wanting this kind of thing?
https://www.nber.org/papers/w31758
https://www.noahpinion.blog/p/nations-dont-get-rich-by-plund...
Race might be a decent analogue to the difference between human actors and sentient AI, but I suspect work animals (plow horses, etc) would be a better analogy.
If slavery truly provided no economic advantages, it's hard to explain why countless human civilizations have engaged in it. It's wrong on every moral front, but riches were inarguably built upon its back.