At work, the only time I've asked someone if they want help is if it's obvious they need help, like if they're trying tog et through the door in a wheelchair and cannot hold the door for themselfs I'll ask them "want me to hold the door for you?" and hold it open for them so they can get through the door, nobody comments on my disabilities because mine are not obvious to other people and I don't tell people I have a learning difficulty and mental health problems.