Help can be respectful without being dramatic.

There is no requirement for helping to be a scene. The quiet transfer, the note left, the thing handled before it became a crisis. Drama in helping tends to serve the helper, and its absence usually means the focus stayed where it belonged.

When you assist someone, aim for it to feel unremarkable to them. Little announcement, little ceremony, no follow-up reminder. If it barely registers as an event, you have probably done it well.