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A lot of what you hear is overblown. I’m usually the one to take my kids to activities (karate, gymnastics, birthday parties, etc). I’m very much an extrovert so I’m usually the type to talk to the other parents, play with the kids, etc.
It’s all about the situation and your demeanor. I’m usually the first to stop a kid from walking out of a place, running into the street, etc. I’ve never had a response other than thank you. Most parents appreciate the help.
Sometimes you might find parents that are a bit colder, but that’s the exception, not the norm. As long as it doesn’t seem like you’re trying to lore the kids into your van with candy, you’re probably fine.