A shared activity works better when the adult enjoys the child more than the result.

Children can tell whether they are the point or the project. When an adult is invested in how the cake turns out or how straight the shelf ends up, the child becomes an obstacle to the result and feels it in every small correction. When the adult is simply enjoying their company, the mess stops mattering and the activity does what it was for. The outcome was only ever a pretext.

Pick something this week where the result genuinely does not matter, and let them do it badly. Watch your own hands. If you keep taking over, you are doing the task rather than the child.