I am a brazilian doctor. Yeah, richer people are very likely to hire staff to manage their homes. It's not a rule, but it's not rare for them to live in the house they work at. This is common enough to show up as a trope in popular telenovelas.

I've yet to uncover a case of literal slavery like TFA though. One could argue the workers aren't getting paid enough and I'd agree, but the workers are getting paid.