Yes, in my interaction with missionaries I don't really sense that "saving people from the fires of hell" is the primary motivation. One of my very best friends in college spent 25 years as a missionary in villages in Tanzania - he wasn't a fire-and-brimstone type AT ALL. My sense of most missionaries is that they principally want to "be an example" and "make a difference." The notion that they are mostly fire-and-brimstone types right out of the Inquisition is a convenient stereotype of the sort that atheists love to promote.
You know: the Great Commission is sharing. People have a choice. Yes: no: maybe... along such a continuum.
O'D III, I agree too it is a stereotype promoted by society... yet some live up to it by 'bashing' and getting in the faces of those who do not believe.
We all share in our unique was... seeding, watering: yet it is God who harvests.
Consider these verses:
"After this the Lord appointed seventy-two[
a] others and sent them two by two ahead of him to every town and place where he was about to go. 2 He told them, “The harvest is plentiful, but the workers are few. Ask the Lord of the harvest, therefore, to send out workers into his harvest field. 3 Go! I am sending you out like lambs among wolves. 4 Do not take a purse or bag or sandals; and do not greet anyone on the road.
5 “When you enter a house, first say, ‘Peace to this house.’ 6 If someone who promotes peace is there, your peace will rest on them; if not, it will return to you." (Luke 10:1-6, NKJV)
We simply invite those along the way... if they be receptive great. If not, well move along and share with another. At times I think just being and openly being Christian in our everyday world of family, work and play is okay.