I’m not sure about original texts, but in the Bodhicharyavatara, Shantideva goes into the balancing of service action and goodwill with attentiveness to ones own mind. Whether you buy into the existence of other bodhisattva or no, this text can be very useful. It is also said (at least in this text, in chapter 4 I think) that a cautious, step-by-step road to taking the vow - really any vow - is better than taking it for mere namesake, blind to the nature of what one binds oneself to. The remedy is in attentiveness, being cognizant of one’s current state, even if that state contains doubt, and pressing on.