How many times have you found yourself not asking for money, help, or anything else? We get paralyzed by FEAR—afraid we’ll be viewed as rude, get rejected, or feel embarrassed.
But asking for what you want isn't rude—it’s honest! Chances are they’re not going to think it's rude anyway (and if they do, it has to do with the thoughts in their mind and nothing to do with you).
The worst anyone can say is NO. You think not asking is "taking care to make sure they don't feel offended by your ask," but that has everything to do with them—not you. They could be delighted by your ask! It could be mutually beneficial—but you'll never know if you don’t ask.