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Is it possible to make a decent living in a job that makes a positive contribution to the world?

I'm not really personable/smart/driven enough to become a business visionary or therapist or lawyer or anything. I'm pretty well built for anonymous, Sisyphean pencil pushing, I'd just like to be a cog in a machine that actually matters.
But also a machine that works - I'd prefer to treat a cause rather than a symptom, I definitely don't want to waste my life to a broken system. I'd love to be a part of inching towards a future where we can see a sustainable difference in statistics. Whether that means increasing efficiency in ethical food production, improving access to mental health care, working towards health-based breed standards in dog shows, fucking whatever.
People are always running around raising 'awareness', and then at the end it's just like "Okay... So what can I actually DO?"

Yeah yeah, 'donate', 'sign my petition,' 'raise more awareness.' idk man.
But I basically hate my job and it'd be great to replace all these wasted hours with work that isn't completely fucking useless.

I obviously need to figure out my passions and research some options from there for myself, but I'm mainly wondering if anyone has knowledge/experience (good or bad) with (seemingly) positively-impactful careers (whether you were aware/motivated by that fact or not), and could share.
I just have no solid image in my head of how I could contribute to anything as a lifestyle, just the crazy hero shit like EMTs, social workers, volunteer firefighters, etc. But I'd rather, y'know, keep all my limbs and sanity.