Saw this question closed as too broad:
I'm recommending that it be reopened, because the last line of the post is a specific question:
How can I change my handling of these interactions to become a better person and be a better support towards others?
One might argue that the first part is a touch broad still, but given context from the (long!) preamble, the guy is trying to reconcile a desire to be more supportive with his evident pride in his stoic beliefs.
The second part is clearly asking how to offer support, as he's not experienced at it.
Both halves of the question seem answerable. At least enough that concerned answer-givers can take a whack at it.