Plan9's reply describes what I do in terms of motorists and minus the future career bit.
I'll stop. Perhaps my fear of strangers gland is faulty, but I've never been concerned about being attacked/mugged/murdered. I've picked up hitch hikers, I've helped to change tires, I've called for tow trucks.
I once used my CAA card to call for someone who locked their keys in their car. It didn't cost me anything, the fellow they sent out didn't care whether or not it was actually my vehicle, and the guy who owned the car was almost comically grateful.
I generally turn down money for these things. If I were ever to incur significant costs for something I might take cash if offered, but I don't help people in hopes that they'll pay me.
The most I received was a six pack of beer for changing a co-worker's tire once. She wouldn't take no for an answer, so I told her to buy me the cheap brand. I was honestly a bit uncomfortable -- after all, changing a tire takes less than five minutes of my time. I suppose the value of the act was much higher for her than it was for me.
All of this pertains strictly to motoring. I'll also help people who are struggling with doors or loads, need directions or any other sort of thing. I consider these acts to be matter-of-course human decency, and don't mentally catalogue them. The example in the OP with the mother and child isn't something I'd do, because unless I were solicited directly it wouldn't occur to me that she needed money. If I were directly asked, I'd probably direct her to the local food bank, as that would be a more effective solution than $20 from my pocket.
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I wake up in the morning more tired than before I slept
I get through cryin' and I'm sadder than before I wept
I get through thinkin' now, and the thoughts have left my head
I get through speakin' and I can't remember, not a word that I said
- Ben Harper, Show Me A Little Shame
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