I think we can expand upon this question by taking it further than slavery. God has granted man free will, meaning He, Himself, gave up a portion of His control. He chose to allow man to choose a relationship with Him. He chose to allow man the choice of obedience. He knew that if man made the wrong decision, which he[mankind] did, then many things would happen that he never meant for man. Slavery being one of those things, as all are equal in His sight. God gave man[mankind] dominion and responbility over the earth, animals, etc. not control over each other. Salvery, no matter how you define, is a result of sin, and man's subsequent desire to control and dominate those of his own kind.
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