Is serving others out of a sense of duty considered good?

According to Osho, serving others out of a sense of duty is not good—it is loveless, breeds subtle demands, guilt, and resentment, and easily turns into domination and exploitation. Duty expects repayment; love gives for the joy of giving and needs nothing in return. Only love is respected and returned; duty wounds both server and served. Serve from spontaneous love, not obligation.