Hamas don't particularly want to avoid Palestinian civilians dying, not if it gets them closer to their goal (complete destruction of Israel, Hamas to establish an Islamic state in its place). This is sadly (from the point of view of western values, valuing life and human rights), one of their greatest strengths in this war.
That's why they have absolutely no qualms about using their own people as human shields, nor diverting aid to their cause.
Most western activists seemingly don't understand this or choose not to acknowledge it (alongside the fact that Hamas also don't share their other values, like gay rights), despite Hamas actually quite clearly stating it. It's a fundamental mismatch of outlook between Hamas and most western people and organisations.
There are a number of groups within Palestine who oppose Hamas rule and are willing to accept a two state solution (or at least say this now, maybe they just want power). Hamas sometimes kill them too. This article by the New York Times about an execution of Palestinian men by Hamas gives some sense of the complexity of the situation. With Truce in Place, Hamas Pursues Bloody Crackdown on Rivals in Gaza - The New York Times
Now I'm sure some people will say that Israel is evil for working with the Palestinian militia groups seeking out oust Hamas. But really, what else can they do? Welcome their own destruction? Of course they want a different set of rulers in Palestine - if there are rulers who concede Jewish people have the right to exist, then a two state solution and lasting peace might be possible. Which is also the preferred solution of the UN, and would be the best way to avoid more suffering and death of mothers and babies (and all civilians).
In my opinion aid agencies in this context do need to be transparent and demonstrate as far as is possible that they have put in place safeguards (such as not employing fighters of any type) to ensure their aid is going to what it's intended for and not either to Hamas or indeed to the militia groups.