Great post, and it sounds like you've found your cure.
Both of my daughters, after serving in many health/welfare church missions in the most poverty stricken parts of Mexico, chose their career paths based on those experiences. This took place before and during their teen years.
One is now a PharmD, the other just graduated as an RN. Both have maintained their "servants hearts", now into their 20's.
We, the parents, never projected or expected this outcome.
It should be required that our youth (and adults!) see how the other side lives, and participate in aiding those people. It's a life changing experience for everyone involved.
Hats off to you, dylansdad77!