Joshua made war a long time with all those kings.
"The error of contrasting Joshua’s rapid campaigns (misread as permanent conquest) with slower occupation in Judges 1 misses the point entirely. And how often the proponents of this theory omit even to read Joshua 13! Thirty-one dead kinglets (Joshua 12) were not a conquest in depth, merely a cropping of the leadership. At the end of Joshua’s career, there still remained ’very much land to be possessed’ (Joshua 13:1)-both the areas listed (Joshua 13:2-6) largely unreached by Joshua’s vigour, as well as the in-depth settlement of most of the districts already raided. That process was more painfully slow, even in Joshua’s lifetime; cf. the remarks in Joshua 18:2-3 (Joshua’s rebuke), besides the frustrated efforts recorded here and there (Joshua 15:63; Joshua 16:10; Joshua 17:12; Joshua 17:16)." [Note: Kitchen, pp. 90-91.] 