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Direct impact on the world isn't what makes work fulfilling. It's doing something because someone somewhere thinks it's the right thing to do. This someone can be yourself.
If anyone along the chain of command is suspending their human judgement and just following orders, you can feel it. It can be obfuscated with many layers so the effect is slower but eventually it will wash over you, petrify you, and you will become jaded if you stay.
Direct impact is usually fulfilling because whenever you do something, it's because you thought it was right. Doing whatever you want is still unfulfilling if you only chase distractions or can only act out life scripts.
In summary... being fulfilled as a human means to act as a human or to work with other humans. Machines and robots can help but the more robots and robotic humans there are, the less the human aspect is valued.
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