Once you’ve conquered Maslow’s original hierarchy of needs, dig into his final need that he added later in life. Achieve not for yourself but for your community or your world. Transcend the self, and feel that higher order need. As another commenter mentioned, altruistic endeavors are a good choice. Even things like being a Boy Scout leader can be hugely fulfilling of that broader need.
Where do I start? What's the first baby step? I googled "Volunteering opportunities" many times without success so far ;)
Check out the Bill Gates documentary on Netflix if you haven't. One notable thing he does is he picks up a lot of books on the problems faced by the world.
Personally, I'd love to help out the average person. People in my area are underpaid and have terrible working conditions - the average "senior" programmer makes a little over $1,000/month and most end up in dead end jobs with few opportunities. There's also people in more remote areas, who are paid too little to find a better job, and labor laws are barely sustainable anymore.
As someone who has implemented what you wanted, maybe you can help others do the same. Instead of giving soup to homeless people, you can give them a reasonable goal to strive for.