How did you bring yourself to leave your good paying career?

My honest advice is to take a few weeks off or even a leave of absence before making a career change. You sound like you are burned out -- it's hard to make a good choice when you are burned out.

For example, though I'm in Sales now I was a teacher in a former life and at the end of every year I was ready to leave teaching. Though I loved my job, I was burned out. But every summer, after a month off, I suddenly felt rejuvinated again. I felt rested and the ideas started flowing again. I couldn't wait to get back to it. Eventually the lack of money forced me to move.

My point is, before giving up on what you've spent so much time building, take some time to rejuvinate first. Tweak the job if you have to. If it's the travel wearing you out, consider finding a similar job that doesn't involve travel (e.g. a company with a local presence or that requires less travel). Some time off will give you insight into what's really bothering you and the time and energy to devise a strategy for addressing it, whether it's tweaks to your life now or a full change.

A note that if you are leaving simply to make a dent in society, I suggest volunteering instead (unless you have a nice nest egg built up). I now make great money where as before I made little money but positively impacted lives -- I can tell you it's very stressful in life to live on limited money, no matter how much impact you're making. You are much better off, in my opinion, having the money you need rather than doing what you love and being broke and living pay check to pay check. You can volunteer on weekends, donate cash or do the little things like tutoring if you need to make a dent in society or spending time doing what you love. I say that with all sincerity.

Good luck!