Every character in Waiting for Godot seems to live in a prison of his own making. Each is confined to a state of passivity and stagnancy by his own inability to act. The one character who is literally the slave of another is no more restricted than those who are technically free; in fact, he may be more free because he is at least aware of his imprisonment.
Lucky’s position is the most enviable in Waiting for Godot since he has the security of being told what to do.
Vladimir and Estragon are slaves to their concept of Godot just as Lucky is a slave to Pozzo.