I think you've hit on one of the main challenges of teaching as a profession: the good parts, like building relationships with engaged students, have to exist in a system with less-good parts, like tedious administrative work and grading. I don't have to worry about classroom control in my courses, but it's one of the hardest parts of K-12 teaching, depending on the school.
My advice is to just look for opportunities to get in the classroom (which might be virtual) and learn as you gain experience. If you are comfortable teaching in person right now, look at libraries, maker spaces, science centers, or any other public space that offers STEM-related programming. Virtual teaching can be harder (all of my classes are hybrid this semester), but there are platforms like Outschool than can allow you to offer your own small courses.
I'm not really motivated much by material rewards but I love sharing what I know but I fear that with the passage of time, my patience for anything in general diminishes and with that, my confidence too...