So, I have cleaned shit-and-blood smeared walls on an unpaid volunteer basis for that inic I volunteered at. Literally that. I didn't have to be there, and the benefit that I got was a cleaned bathroom for a place that really needed a clean bathroom, even if someone occasionally fucked up an IV injection or had extreme poop issues or mental health stuff.

I wasn't even the person most willing to to that work. I was just the one willing enough with few enough other responsibilities.

I've also done extremely gross hospice care where qualified medical people weren't available. Especially for people I loved, back when I used to do that.

I should point out that this was how those needs were filled under your coercive regime with fewer/none of the community motivations that would be present in a more humane system.

It turns out your precious coercive power doesn't solve this problem either, because the people with those sorts of needs don't generally have much ability to coerce, and when the strong bully the weak, they don't get much into the habbit of nurturing them.

Cleaning isn't an inherently undignified job, it's just that we associate it with poor working conditions, inadequate compensation, and low status. None of those are inherent to the work. Both you and I would do fine in a job like that, if we were respected and got what we needed from society. For work that is genuinely unpleasant, there's no reason I know of there can't be non-monetary perks that would make it worthwhile.