Why don't people offer to help?

All my life people have stood on the sidelines and judged me for not doing this or that, but the times someone has sat down with me and offered to help out I can count with one hand. In 29 years there have been less than five moments where I needed help and someone saw the difficulties I was having and tried to help out. So what's up with that?

I'm terrified of going to the doctor because of OCD and a history of medical professionals dismissing my concerns (even when they're legit) and a friend said they kind of gave up trying to get me to see one for my chronic issues even though they never offered any sort of assistance. Does it just not seem like I need any? I would probably shit my pants with joy if they asked hey, do you want me to be there with you when you make the call? What if I come with you? I know I've been dismissive whenever they've told me to call a doctor because it scares the shit out of me and I appreciate that they respect their own limits instead of taking on extra responsibility over the situation, but a part of me wishes they, at some point, would've offered some type of concrete help with it.

I know it's not other people's job to do this for me but it does feel really disheartening to have people constantly express disappointment over something they don't try to help me with. I also know the solution is to ask. I just wish somewhere in my heart of hearts that I didn't have to.