Don't know if you are still around op but i had a mum like you.
She loved feeling useful as she had a condition which meant she couldn't work out of the home. So she would do everything for everyone. My dad and brothers never had to do a thing although my dad could iron occasionally. My three brothers and dad were never allowed to help in the kitchen (i was taught very few basic things like how to peel a potato). Even if the door bell went everyone would look at my mum!
I told her i didn't think it was in their best interests to do everything for them but she didn't listen.
Then she died. My dad can still only do the ironing and literally doesn't know how to clean the house or cook a simple meal. As a result of that he has become ill through a terrible diet. My three brothers are lazy and entitled and think they shouldn't have to do anything for themselves. They don't clean at all, cook or anything. They even smell as their home smells and they don't seem to realise that their clothes get musty. As a result of all this they can't get girlfriends. Who wants a smelly man who can't even heat pasta and lives in a dirty home.
Generally all four of us children were left unequiped to deal with life.
Im not saying this to get at you op. Im a sahm too. The difference is that i see my job as to teach my children how to function as adults, whereas you seem to see it as to make your kids lives as easy as possible. That's lovely in the short term but damaging in the long term.
I would imagine it is as you say a nice feeling to look after everyone, but actually when you are doing any job you need to look at the long term goals not just the short term feelings it gives you. I don't know of any job where you could just go in and choose what to do based on how that thing makes you feel rather than what is best for the company or whatever. You'd probably get sacked!
So this isn't about sahms at all for me. Just about how misguided i think your intentions are.