Humanity is enslaved because it fundamentally doesn't understand Natural Law and what a right is.
The enslavement will end as soon as humans and human leadership let go of the believe that humans or governments "make" rights.
As long as human leadership represents that believe system, the aliens that are on the side of free will CAN'T HELP, as the population itself chooses the wrong path enacted by its leadership.
As long as human governments are allowed to sign treaties *without informed consent* of the population and therefore against the free will of non-participants, that population doesn't respect free will at all and remains enslaved.
Humans must understand what Mark Passio is saying in his seminar "Natural Law" starting at 5:13:11...
If humans want to be free, they must hold their governments accountable to the NON-AGGRESSION PRINCIPLE.
If humans want to be free, they must sign a DECLARATION granting individual rights in harmony with natural law, so that the aliens who are on the side of free will can be assured that humanity also stands on the side of free will.
If humans want to be free, they must understand what INFORMED CONSENT is and that that principle does not apply to medical ethics alone.