But the same applies to the person you are talking to - it is their job to reach out to you if they need help. It is not your job to prove anything to them by reaching out when (your heightened vigilance picks up that) something is off.
I am never buying the story of "i did not reach out / i betrayed you / i treated you poorly, and you deserved this treatment, because you failed to know me well enough to know what i needed (even if i didn't know that myself)" ever again.
There's no failure in asking. But there's no failure in not asking either - because you might be dealing with your own shit, as a responsible adult does.
One school of phenomenology of empathy makes an interesting point that empathy is an aesthetic category, not a moral one - you don't really choose to feel it. But you can choose to show up for someone. You can choose to show up for yourself as well.
I have been dancing lately, and i think it's helping a little. Our tango teacher says semi-jokingly to followers (usually women, although i find occasionally following quite fun as a man) "if you teach men that you will do everything yourself, they will learn that" - meaning that they should not anticipate a move - if it is not being communicated clearly, it is not your job to guess it. On the other hand, leader's job is to very clearly suggest a move with a gentle push or a shift in their pose, but not force it. Ideally, that's a fun exchange of clearly expressed and contextually relevant suggestions and responses.