They were willing but only because Sauron had been 'working' them so that they would think that way. Kind of like a politician. Albeit an extremely scary politician.
Sauron would have helped to maintain the life of the Southrons and Easterlings but even if he didn't, wouldn't he still have enough sway over them so that they would not revolt? They would be too scared to start a rebellion.
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Los Ingobernables de Harlond
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