Is Zakat permissible for workers such as the driver and the maid, and how are the deserving relatives determined?

It is permissible to give zakat to a worker or maid if they are poor or needy, and their salary is insufficient, and there is no objection to that if they are among the eight categories mentioned by Allah Almighty in Surah At-Tawbah/60. However, it is not permissible for this to be for the employer's benefit, such as obligating them to do more than what was agreed upon, or withholding their rights and then giving them from zakat.