When is ignorance considered an excuse in matters of prohibition and permissibility (tahrim and istibaha)? And would a Muslim maid who is ignorant of the prohibition of camel meat be excused due to her upbringing in a non-Muslim society? Is merely informing her sufficient, or must something else be done?

The jurists excuse ignorance for one who grew up in a land far from the land of Islam, or in a desert, or was newly converted to Islam. It is obligatory to teach the maid the fundamentals of religion related to monotheism and the rulings of worship, and to clarify that camel meat is permissible for this Ummah.