The servants were given accommodation and paid for their work.
I think we’d all be fairly disgruntled by those terms of employment though
Plenty of jobs still come with tied accommodation. I grew up in a house far bigger than anything my parents would have been able to afford.
On one side of the family, they were the servants; on the other side, they had the servants. In the late '70s, I remember being taken to lunch at some cousins in a massive Victorian mansion, and afterwards, we were taken to the kitchen to say thank you to cook. I hated this, as I was of an age when any adults I didn't know we're mostly terrifying.
A few years ago at work, a git of a manager was putting some unreasonable demands on people, and I sarcastically said, "I was brought up to thank the servants," and then realised that was actually true.
I have family photos going back to the 19th century, and the servants are often there, especially on family outings. Admittedly they were probably there to lug the picnic hampers about, but they were in the photos with the rest of the family. We also have some farm accounts from another branch of the family, and they are settling a bill with the local cobbler, for shoes for all the family - and the live-in servants.
I don't think life as a servant was necessarily bad, but it would depend on who you worked for and how much respect you were treated with. If you were having good to deal with sexual harassment and rape on a regular basis, it must have been terrible, and it could definitely be hard physical work with very long hours and little holiday, especially at the bottom of the hierarchy. But if you didn't live in a factory area, girls particularly didn't have many other options, and most of the time, it was better than the poorhouse or starvation.