I agree with most of this, and also have experienced the positive outcomes of people thinking ahead and sublimating short term reward for long term gain (for the collective).
However it seems antithetical to put a reward function on it so there is this catch-22 about what makes the thing "good" also makes it difficult to achieve.
Good behaviour is ideally its own reward: intrinsic motivation. Extrinsic motivation—either (monetary) reward or punishment—is (AIUI) less effective.
Fulfillment through meaningful relationships and accomplishment has been considered the basis of happiness for quite a while:
* https://en.wikipedia.org/wiki/Eudaimonia
Wealth, honour/fame/glory, power, pleasure are not bad in themselves, but generally can be considered as means to an end of and not really ends in themselves: