A career focused on teaching
This answer pertains to the United States

Given your interests, a possible avenue to consider is a college dedicated to teaching, such as Harvey Mudd and the other SoCal colleges, Haverford, Swarthmore, and the cluster of teaching colleges in western Massachusetts (Smith, Mt Holyoke and the like). 

In all of these places, your primary job is to teach. You will also have a chance to do research, and your research productivity is valued, but the amount of research you need to do, and the amounts of grant money you pull in, have very different expectations from a typical R1 university. 

You will still need a Ph.D. You will still have to do all the usual networking required to get a job. But you won't need to do battle for grants in the same way, and often teaching at an undergrad college can confer a slight advantage when it comes to asking for grant money.