This is just an idea - I'm hesitant to give it because it definitely isn't a good fit for everyone - but if you were to get a Master's Degree in Social Work, you would have the option of working in the court system helping people - kids, families, etc. - if that's what you want to do. This is a rewarding, but thankless and underpaid job.
So no, social workers do not get paid well at all when working for agencies (especially when considering the importance of what they do). They get paid a lot better in hospitals or government jobs (although not as much as nurses).
BUT there is the option of getting licensed and starting a private practice. Social workers can legally provide counseling, psychotherapy, and other mental health services in most states, just like a master's level marriage and family therapist or counselor. You have the option of setting your own schedule, billing insurance or out of pocket, and, well, you will be figuring things out (not sure if those are the kind of things you meant, but...). In this role, there is actually a potential to make a really decent amount of money and be self-employeed.
Anyway, not sure if that would be a good fit, but something for you (or others who read this) to consider.
If I were to go back in time, I would either go into a trade like carpentry, or, if I chose a service profession, I would become a nurse. Hospitals and clinics are always advertising nursing jobs, they get paid well, there is a range of things you could do, and room for advancement.