I’d first ask you to define what the “average or typical” Catholic" is. I’ll bet I can find as many (proportunatly) Mormons or JWs, or those that call themselves such, who resemble those you illude to. I’ll for the moment even exclude “Jack Mormons”.
More telling than a one or two year mission, is how one show’s Jesus message through how we live our day to day lives. If we live them in prayer, and holiness, rather than door knocking, we have spread the Gospel. If we show God’s love through our efforts and examples, then we are preaching the Gospel by being a light unto the nations.
While Mormons, Seventh Day Adventists and a many other groups have to one extent or another associations and projects that are aimed at helping provide medical and other assistance to the poor. The Catholic Church has the largest effort to provide free and affordable health care, education, vocational training, food for the hungry, shelter for the homeless, clothing for the naked, and other services, in response to our Lord when he said, “Whatsoever you do to the least of your brothers, that you have done unto me.”
Since there are many ways to preach the Gospel, like the example of Mother Theresa of Calcutta, I don’t think that the Catholic Church has ignored the missions either, be they at home or afar. The difference is that Catholic efforts to spread the Gospel are not primarily focused on, or as easily identifiable as a white sirt, black tie, and bike.
As an aside, Mormon “Elders” are banned from knocking on my door, as are Jehovah’s Witnesses. The local Bishop is tired of being asked questions that the Elders who used to come into my house, and became baffled when they could not answer some of the questions I asked them to ponder. The JW’s are upset that a few of their folks have returned to the Catholic Church after I showed the contraditictions in their doctrine from their own publications when I had my collection of old JW publications handy for their visits.