People ask me to help them get things off the shelf all the time. I’m tall.
I’m 5’10” and am often asked by the vertically inclined if I can get things off of the top shelf. It’s not a racial thing. It’s a neighborly thing.
As for being asked to get coffee, that’s happened, too. Especially when I’ve worked in an office with a lot of men. They wanted me to make it, too. I didn’t fret about it or get offended. I told them to make it themselves. No problem.