Do I want to enslave my partner or compel them to live with me against their will? No. I am sure others in history have wanted that and still do today. But the important thing is you need power to not be enslaved by others, even if that just means living within the borders of a tribe of people who act against slavery.
Since money is a proxy for power, and since resources are finite and we do not live in this world without effecting others, I would say the distinction of having the power to be free from compulsion and the power to compel others is very, very murky.
For example, I am not using my power to directly compel someone with violence like a slave owner, but I know that living the quality of life that people in the top 10% to 20% of the US do is for sure compelling others to live with more pollution and/or fewer resources due to me consuming so many resources. I am pretty sure this claim could be made for anyone living in a detached single family house, or even people with more than 2 kids. Or maybe even 1 kid.
If we go back to the original claim:
> The idea that the only, or even primary, incentive to do stuff is money is an invention of 20th century economics.
Yes, people like doing things for their community or helping others here and there, but functionally no one is going to change bed pans in a nursing home without getting something in return.