Maldraxxus was eternal mandatory enlistment before the machine of Death broke.
Bastion forced people to forget themselves and become true lawful robots before the machine of Death broke.
And the Maw is, and has always been, hell.
Only Revendreth and Ardenweald have somewhat positive outlooks, and even then, they pretty much override and disregard the culture and beliefs of those who are sent there.
Maybe among the other "infinite" realms, there are some decent ones, but the ones we're visiting are pretty bad by default.