The person accepting your help should not have to comfort you for being needed.

Help can arrive with an emotional invoice attached. Sighing about the drive, mentioning how tiring the week has been, or needing reassurance that you did not mind hands the other person a second job on top of whatever they were already carrying. They now have to look after your feelings about looking after them, which frequently costs more than the original favor.

Give help this week with nothing added: no commentary on the cost, no fishing for reassurance. If the load is genuinely too much, that is a real conversation for another day and probably a different person.