I think that's very much an open question, especially if you eliminate religious revelation from the argument. (Religious revelation introduces points not revealed by pure observation.)
We are born helpless, utterly dependent on others for whom we can do nothing for years of our lives. If we are allowed to live, solely through the effort of others, do we not owe them some form of servitude, at least for a period of time, in exchange for our lives?
And on the other hand, some argue that it is parents, having inflicted life upon their children, who are in the position of being obligated to serve the children. "Why do I have to clean my room? You decided to have me!"
‘If we are allowed to live, solely through the effort of others, do we not owe them some form of servitude, at least for a period of time, in exchange for our lives?’
what you have described here is most emphatically not subservience, enforced by physical or mental threats...yes, we owe those who have mentored and guided us our allegiance and loyalties...