There are refuges from poor countries that would love to live in my parent's basement and take care of them. They would think it is great - a kitchen of their own (not all houses have this, it happens my parent's house does), bathroom with a tub, a private bedroom, plus a living room that is larger than the mud hut they lived in back home. Of course they will discover in winter that they won't be going outside so that much space is small, but there is also the rest of the house that is semi-available. Of course everybody has a different house and so situations are different. However if you are reading this odds are you have (or could afford if you wanted) a house large enough to have spare space for servants.

Legally though you can't do it. You can't import such people easily. Even if you could, you have to pay them a wage that is affordable despite also providing room and board. I'm not sure this is a bad thing overall, but even though for the world's poorest just room and board, and $1/day would be a lifestyle improvement.