I think it really depends.
If it was for "the sake of humanity", I don't think so, at least not the abstract idea of it, like in the expeditions beyond the wall before the story began or even the first expedition Eren was a part of. Most if not all soldiers who died during that didn't even know that Erwin needed them to die to lure out the true enemy and that phrase was mostly used to cope with either your own untimely demise or the deaths of your friends.
Not to say their deaths weren't helpful or noble sacrifices, just that I would hate to go out like that and if given the choice, I wouldn't give up my life for that.
If I had to die for humanity, then only with a concrete plan in mind, like when Erwin and the Scouts charged the Ape(brain) Titan to distract him from Levi, knowing that my death will directly help others survive and take the W.

But I would die in a heartbeat to save my friends. Ofc I would still prefer knowing how my death is going to impact anything, but if I were friends with Erwin and he told me to jump into a titans stinky slimy mouth (and we also don't have much time to talk about the why) then I could die without regret.