To clarify. I didn’t say it to limit what how long what I typed out, but yes, I always ask first, unless someone asks me.

“Can you help me get down this step?” Yes, absolutely, take my arm.

If I See someone struggling to move trash cans back down their driveway, for instance “would you like some help moving those?” If they say no, ok have a nice day.

I encounter a lot more elderly people than disabled, and usually it’s a resounding yes please help, but I respect when it’s not. I also took care of my aging grandmother forever, so I am good at picking out what’s the stubborn “I can’t do this dammit” mindset.