A man is truly free, even here in this embodied state, if he knows that God is the true agent and he by himself is powerless to do anything.
The Man who works for others, without any selfish motive, really does good to himself.
God is in all men, but all men are not in God; that is why we suffer.
Longing is like the rosy dawn. After the dawn out comes the sun. Longing is followed by the vision of God.
Men bound hand and foot in the endless chain of cause & effect cannot free each other.
You speak of doing good to the world. Is the world such a small thing? And who are you, pray, to do good to the world? First realise God, see Him by means of spiritual discipline. If He imparts power you can do good to others; otherwise not.