As a result my usual offer is the more socially acceptable, "I'll make you a meal or pick up some groceries." (Or childcare for a few hours, if applicable.) "And let me know if there's anything else." But I've had people get really insulted when I've offered to mow the lawn or clean.

I'm not super sure how to navigate this tbh, especially with people who aren't already my besties. Any suggestions on socially acceptable ways to frame an offer to help with cleaning, for example?