Like, you're describing love and full understanding. Between friends, family members, romantic partners, or just people you meet and share a genuine connection with and an understanding enough to directly help them. That is beautiful. I am a big advocate for it. It's especially needed in our families and close circles, and mutual aid societies, workplaces, etc. It is not the only kind of mutually beneficial voluntary exchange though. Basic respect, or abiding by a standard that amounts to basic respect, and individual selfish motives, are frequently all that are required for some awesome stuff to happen. All the rest is just even more awesome stuff.