Knowing when to help, when to offer, what to offer and what to accept etc requires extensive experience managing tasks that are completed jointly. Or does it. It doesn’t. We can have routine ways of completing things which are necessary for efficiency. That allow us to ‘work’ together but is that relationship successful and healthy or detrimental to one person or the other.
Does the actual task that needs to be completed require another person? Or is it easier to get it done by yourself? Or is there joy in sharing it? Or is there absolute need to have someone else present? What level of comfort does that person bring? Do they bring with them knowledge or do they bring with them very real physical support? Or do they bring with them shared experience and speed to complete more complex tasks? To what level of skill does that person need? How rare is that skill?