I've read conflicting viewpoints on the alienation of peasants or slaves. On the one hand, we might suppose the social classes were relatively stable because of all the brainwashing in kingdoms and empires, just as in Putin's Russia, for instance, or any other modern dictatorship, the elites control the state culture and thus stifle opposition. Whether that totalitarian control would be more or less complete in the ancient world is a little unclear. In some ways it would be less complete because of the elites' limited reach, given how slowly information travelled.

On the other hand, there were a series of slave and peasant revolts, which indicates the lack of perfect contentment.

Still, it's easy to think that before the modern ideology of progress, societies were generally more conservative and fatalistic about their dominance hierarchies.

In any case, I'd distinguish between personal and social alienation. Personal alienation follows from the nature of self-consciousness (contrary to Vervaeke), and from the transition from childhood to human adulthood. Social alienation has to do with class struggle and collective identity, which can lead to tribalism.