This sounds like an unhealthily cynical view to hold. I certainly hope it does not come as a surprise to hear that some people just genuinely do love animals. Not everything in life boils down to running laps on a hedonic treadmill.
I do agree there are other intangibles, though (sense of community with fellow volunteers, sense of freedom by doing something exceptional, work experience). These intangibles are good things (mutual benefit).
Some people also benefit without expectation of reward. There could be an argument of self-interest (e.g. to feel good or alleviate some past wrong), but in practice, it makes sense to just thank these people for their actions without worrying about their motivations (which they might not even definitively know).
Positions such as these often pay in increased social status. Just because the compensation is intangible doesn’t mean it’s not real. Working at an animal shelter may well raise your status with potential partners. Working on a city advisory board will definitely get you noticed and can be a stepping board toward political office. And even an unpaid senior position at a well-funded and prestigious foundation results in a great deal of clout.