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[Hide] (1007.7KB, 1686x750) probably not since antiquity predates victorian maids by some 1600 years
but to actually answer your question, having an unmarried, low status young woman living in your household that's entirely dependent on you for her livelihood and with the cultural status women in general occupied at that time, makes for quite a severe power imbalance, and some unscrupulous individuals probably did coerce female servants they took a fancy to into having sex with them
also it's funny how i get pics from a literal hentai when googling victorian maid