But how did Kassidy Yates worked to better herself and the rest of humanity? It looks like she was working as a freighter to get paid. She ended up helping the Maquis and going to prison for it.
Throw Harry Mud in the mix. What was his motivation? He didn't need to scheme and swindle people, but that's exactly the lifestyle he chose. Or Vash from TNG.
It's like they needed to add a sense of adventure to their lives or something.
Imagine after all the human struggling to free itself of poverty and want, feeling guilt because you can have all the food and knick knacks absolutely free from a dispenser