Many, many communities still rely, at least in part, on volunteer firefighters. I know a number of former military guys that love it--provides that the risk/rush and camaraderie you're looking for. And it ain't a cakewalk.
My dad was actually a EMS/Paramedic for 20+ years and I think he feels similar about that to his military service. The long periods of boredom (low population rural area) followed by intense life and death situations mimics deployment/combat experience and if you have psychological issues related to wartime experience it can exacerbate it. At the same time, saving lives and helping people are extremely fond memories but when I was growing up I think the job was harder on him than he remembers these days.