In my younger years I was deeply influenced by the theologian Neale Donald Walsch. According to his work, every free choice is either rooted in fear or love. It's worth pointing out that the definition of love in such a lofty context is not the sort of possessive or conditional affection of our society's convention, which itself can be largely traced to some sort of fear of loss.
In Walsch's book, the point was repeatedly made that the contemporary human species is still on the primordial end of a large spectrum, with all sorts of sublime spiritual territory unexplored before us.
From this perspective, the practical answer is that yes, every motivation as we know it boils down to fear. But according to some sources there is another way which we have not even scratched the surface of.