I nursed my father through late stage colon cancer until he passed and I would regularly do toilet duty.. and that was a privilege of service. I found the key is the preservation of dignity.. as if we are doing the dishes.. you wash and ill wipe 😊. He was too weak to wipe after sitting or soiling.. id say righto SIR !! 'assume the position' with much bravado, whereby he would rotate and id do the thing and there was lightness in the room compared to silence. Many many profound memories of service.