In a public place, with other people nearby, and particularly in daylight, I’d welcome your offer of help. I’ve been helped, and offered help, in similar ways many times.
95% of the time, we’re all just humans trying to do life, and the help we offer each other is sincere and lovely.
Situations that make me nervous: when it’s dark/limited visibility, and there aren’t other people nearby. For example, a parking garage late at night, when there aren’t many cars left/other people around. If you (or any other man) approached me in that scenario, my first impulse would be to run. I would be completely on edge, trying to assess my options without panicking.
Your offer to help might be just as sincere and lovely, but for me it would be a very different situation than a busy Costco parking lot.