9 year old neurotypical child, no special needs.
Is it infantilising for the child for the person caring for them to sit in the bathroom with them the whole time and then to physically towel dry them when they get out?
My kids are older but I'm pretty sure at 9, I would have run the bath, chivvied them in and out, checked they washed and dried themselves but not done it for them or sat watching them the whole time.