FYI: the “yoke of slavery” is referring to not being set free from the curse of sin which happened at the garden which means we would be separated from the Father for all eternity when we breathed our last however, when Jesus became sin for us and died in our place on the cross then rose again, He broke the curse of sin once and for all where then we would have that right relationship with the Father in heaven for all eternity when we breathed our last but, we have to believe in Jesus first. Jesus said in John 14:6 “I am the way, the truth and the life, no one (no one anywhere on earth before, present & future) comes to the Father but by Me”