Only when they help poorly. Which is often.
Then I’m frustrated since it’s impolite for me to complain about them helping out.

In instances where infantilization is involved, yes. But nowadays I won’t go back to relying on someone who does that to me

In the moment I have but afterwards when thinking about it, it’s normally more complicated.

Part of it is resentment (/embarrassment/shame) at needing help at all and I think this is something everyone feels at some point, even NTs. The feeling of being made to feel helpless is something no one likes.

Another part is frustration when someone thinks they are helping but are more getting in the way/creating more work. I think thats down to poor communication and its not surprising ASD people have problems around that.