Yes I believe Torah slavery is morally good, I think it’s more immoral to have legal slavery that’s impossible to escape like in American capitalism. In a Torah society, if somebody goes bankrupt he can sell himself for a certain amount of money for 7 years, and then when he’s done after the 7 years he keeps the money he was bought for, + money the master gave to slavery during his servitude (it was common for this to happen, from my understanding learning laws of slavery), + the gifts the master is legally obliged to give the slave when they part ways. So instead of being homeless or in never ending loans, he got free housing for 7 years, money, and the ability to start a new life.
Furthermore, in Jewish slavery, it’s forbidden to shame the slave, and in fact it’s an obligated to respect your slave. If there’s only one pillow in the house, a master is obligated to give it to his slave before himself.