Did Joshua give Israel rest in the land?

Following the fall of Adam the son of God early in Genesis, and thus his failure to enter into his Father's seventh-day rest, the world descends into almost utter chaos and wickedness. Therefore, God cleanses the world of its evil in the great flood, and restructures it the world anew. He scatters the various Gentile-nations in the judgment on Babel, and calls out Abraham from Ur of the Chaldees to form a new nation.

The story of Abraham and his seed is concerned with God's forming a new firstborn son of God. Having called him out of Egypt, and formed him in the wilderness, what remains is for God to bring him into a new garden, and so bring his son into his own divine rest.

The ministry of Moses had been largely concerned with preparing Israel the son to enter into God's rest: the defining sign of the Mosaic covenant was the Sabbath, which pointed to Israel's rest from its labours (most pointedly, its toil in Egypt) and its entry into the land of promise.

Of course, Moses himself does not enter the land with Israel, so the fulfilment of this promise of rest seems to fall to Joshua to provide. On the face of it, Joshua does appear to be the instrument for God's bringing his people to the long-awaited rest in the promised land:

Joshua said, "Recall the word that Moses servant of the Lord charged you, saying, 'The LORD your God is about to grant you rest and will give you this land…'" [Joshua 1:13, Robert Alter, The Hebrew Bible]

Why then does the writer to the Hebrews teach us that Joshua did not give Israel rest in the land?

For if Joshua had given them rest, God would not have spoken of another day later on [in Psalm 95]. So then, there remains a Sabbath rest for the people of God, for whoever has entered God’s rest has also rested from his works as God did from his. [Hebrews 4:8-10, ESV]