This is a hard question because it’s less about what I think is right, knowing what I know today, and more about whether I would fall in line with social norms. If I lived in Roman times, would I think slavery was an abomination? I guess it depends on my socio-economic status. Being wealthy, I’d probably just think it was normal. Being poorer, being exposed to the ugliness of slavery, I’d probably feel completely different.
I’d like to think I’d find it as appalling as I do now, that humans can be treated as animals, as pieces of property, with no care to their feelings, hopes, or dreams. That is, actual, institutionalized slavery.
BDSM slavery is another subject altogether, considering the “slave” is not actually taken by force or against their will. Given some ideal conditions that likely exist only in my head, I could see myself having a “slave” in this context.