A person who depends on help still deserves room to dislike part of the arrangement.

Gratitude and complaint are not mutually exclusive. Somebody who needs daily assistance is often expected to be uniformly thankful, which quietly removes their standing to say the timing is wrong, the chair is uncomfortable, or that they would rather do that part themselves. Needing help does not mean surrendering opinions about how it arrives. Dependence should not cost a person their preferences.

If you provide help, ask what could be done differently and make it genuinely safe to answer. If you receive it, you can say what does not suit without risking the whole arrangement.