MiddlePath
What you have mentioned is all the Shelo Lishmah. All people have to start at the Shelo Lishma to keep them motivated and focused on doing the right things and avoiding the temptations of the Yetzer Hora. However once one has made very significant advances in Avodas Hashem after many many years of working on himself, he/she can switch the focus to serving Hashem purely out of love for Hashem and focus on doing the Ratzon Hashem because thats what He wants and completely nullifying the self and live a life totally immersed in Ratzon Hashem and only thinking about “what does Hashem want me to do right now.”
Additionally, bear in mind that doing for others is a huge mitzvah and it is Avodas Hashem. One of the biggest mitzvos and chassadim one can do is learn Torah with someone else.