When it comes to work, you obviously cannot engineer happiness, but there are a number of things you can look for in an employer. If you know where to look, there are absolutely companies out there that place an emphasis on employee empathy, flexibility, kindness, etc.
I would know because I work at one such place. The thing that a lot of people are not willing to accept however is that you generally have to give up other things. I work at a nonprofit. We start at 17 days PTO and after year one you bump to 25 days. You are strongly encouraged to take it. We're given nearly $5k per year, essentially no strings attached, to be used as we see fit for continuing education efforts. Everyone is extremely kind, empathetic, and flexible. You are strongly discouraged from ever working more than 37.5 hours in a week. It's as close to heaven in an employer as I've ever found by a mile.
Of course, because it's a nonprofit, I need to take a discount on pay, to the tune of somewhere around 20% below market in the region. Is it worth my happiness though? Completely. I have no regrets and continue to work here despite interest from places willing to pay me that extra 20% and more.
I see a lot of devs getting hung up on getting "what they're worth," as if they're selling a hunk of meat to the highest bidder. If that's how you treat yourself, that's how you'll be treated in return. After about a decade of professional work, I prefer to see myself as being entered into a mutually beneficial relationship where salary is merely one piece of the picture. I've long since realized that my expenses rise/shrink to meet my salary, mostly without me noticing any actual change in quality of life, so just maximizing that number feels pointless.
This is all not to say that I don't have ambition. My ambitions are just more multifaceted than "make XXXXXXXX/yr." Feeling fulfilled by the work -- that's an ambition. Having work that energizes me rather than drains me -- that's also an ambition. And I really do mean that, you have to strive for such things. They're not going to fall into your lap. It also requires you personally to understand what happiness means (contentment and inner peace rather than chemical euphoria) and pursue that instead of alternatives.
Personally I really don't see the point in living a life of toiling away at shit work just to make an extra 20%.
Oh, and by the way, we are no slouches. We create extremely high quality products at a fast tempo - because we all love what we're doing and are invested into the mission. We work for 7.5 hours and then we turn off and enjoy life, and come back rested and refreshed the next morning.