Many spiritual traditions have posited that any "truth" could be attained only by some state of "selfless self". It is certainly a useful ideal, or utopy, or myth, one that should probably be echoed more in education. But will it ever be human reality? I doubt it. Why would a desireless and fearless individual live and speak in the first place?
The very idea of someone attaining anything is misleading and contradicts the idea of a selfless self. The whole point is it is reality whether the human consciousness recognize it or not. As far as why someone without fear and desire (depending on how you use that word) would do anything, it is precisely because it is free - free from needing some external motivator to move and act as it does. The egoic mind can only understand action based on such a motivation, but the free mind doesn't need it. In other words, the desire is not separate from the action. There is no suffering, no unfulfilled desire because all of it is actualized - there is a unity between mind and body, as well as the perceived self and others. But of course this is in the larger context of life, not like the egoic idea of having $47 million, huge pectoral muscles (or other tissue, as the case may be) and having all one's unconscious conditioning fulfilled as desire. That would be the bliss that is ignorance.
But beyond the aspect of freedom is the embodiment of that self realization, which essentially equates with love. That motive for movement is then love coming back for itself. It is a desire to free, not others, but the delusion of others. It goes much deeper than freedom from a life situation or a state of mind, (which implies it is not a polarizing to fluffy emotional states) it has to do with understanding your own nature, what you are. It doesn't mean you are emotionless like Spock, but all emotional states are expressions of that nature, you are neither limited to nor from certain ones. Furthermore it is not that the phenomena of individual, apparently separate human beings are a problem, but it is just not taken to be the self. So in that sense it is a transformation of consciousness, but it doesn't mean people will cease to exist - just not in the same confined way.