No doubt RSS and other Hindu cultural groups are doing a lot of good work, but like you said its mostly a reaction to what the missionaries do and not borne out of any internal catharsis. Just like missionaries, Hindu groups also see the Dalits and socially ostracized communities as tools in a war of religious demographics. As a upper caste Hindu i have no shame in admitting that , on one hand we don't want other regions poaching on the dalits and other untouchable groups, but at the same time we refuse to embrace them as our social equals. This same attitude pervades among our Hindu religious organizations.
Acitve attempts for social outreach is another important thing. In Bangalore in all these years only ISKON has ever tried to contact me, soliciting donations for charity and shared details of the charity programmes. I have never been approached by anyone else. Of course other groups may be sufficient in funds and don't want charity, but reaching out to members of the Hindu community for charity is way of involving
them in community related programmes.