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and did not drive out

This tells how they disobeyed God, so in some languages it may be better to start this as a new sentence, "They did not."

drive out the rest of the Canaanites

This can be translated, "fight with the rest of the Canaanites to force them to leave the land."

or obey God's laws

This means that the people also disobeyed the laws that God gave to the Israelites at Mount Sinai.

the true God

That is, "the only real God." Yahweh is the only one that people should worship.

what they thought was right for them

This means that they all did whatever they wanted to do, including many evil things.