This aligns with my experience and observations.
I'd say I'm motivated out of principle (or my moral ideals) more than a desire to develop rapport or be viewed a certain way.
I notice many xxFJs are more about rapport building or expressing a feeling. Honestly, I do see a "selfish" side to this, as well as noticing there is more of a self-image wrapped up in it. But then, that's supposedly a 2 thing too.
I don't relate to this at all though.
It rarely makes me happy to help anyone. I have little to no emotional reward. There may be some long-term reward, as you mention, which means living up to my ideals and how that gives me a sense of fulfillment. You could say this is an inner harmony vs an outer harmony, but I don't experience any immediate payoff and thus don't feel driven emotionally.
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This sticks out to me because a friend of mine tried to tell me once that people help others so they feel good about themselves. I remember growing really upset and saying, seriously? Because to me helping doesn't make me happy. It doesn't make me mad either -- or even annoyed (all the time), but for me it's just a natural response. Like why am I sitting here or standing here when I can just help? That's just how I see it.
I don't expect rewards or yearn to look "good". I do believe it's a decent thing to do as a human being though, so there is just moral push behind it. It's something as little as holding the door open for someone. When I see people not hold the door open it just makes me shake my head like seriously? SERIOUSLY?