In this scenario you just need to stop trying to fix it with logic because he's not in a logical place - his emotions have taken over and he is stuck in them.
You could either engage in some kind of emotion coaching (e.g. like the How To Talk books) where you validate the feeling and then encourage him to take deep breaths etc or just make sympathetic noises, but stop focusing on what the "problem" is because it probably doesn't matter, he is just a bit tired/thirsty/overwrought because he is 4 and his emotions have developed faster than his ability to self-regulate them, which is totally fine and he will get there. With this approach I would also take some time outside of the upset moment to talk about feelings and how we all feel sad or angry or tired or jealous or frustrated (etc) sometimes and it's normal and OK to feel that way and it doesn't last forever, and maybe look at some things you can do when you feel like your feelings are getting too big like breathing exercises - there are some fun ones for kids, like balloon breathing or blowing out pretend birthday candles.
Or you could give him some space - talking less is often a good idea when a child is stuck in this kind of thing. Trust that he will, after some time, find that the feeling passes and he can fix the problem himself. Go about your day and every so often you can remind him "I'm here when you're ready" or "The drink is on the table when you want it" but basically stop engaging because it is just giving attention to the behaviour, and he is not dying of dehydration nor is his leg broken and unable to take him to the table. He's OK - while this may feel unsympathetic, it doesn't have to be. You can still have sympathy for his feeling while understanding ultimately it doesn't help to rescue them from every bad feeling ever.
Or what helps sometimes is to diffuse with humour - e.g. repeat his request "You want ME to get you the drink? I just sat dowwwwwn! I could not possibly. Nah. I'm too tired. My arms won't stretch. Hggggggggnnnngngh. Nope. Sorry. Wait where was that Mr. Tickle arms button again? I will try that. Hold on one sec." More performance of pretending to reach the drink.
If you feel that "nothing helps" then I would guess that you are over-empathising, acting as though him feeling bad is an emergency/problem and trying to make him feel better by following his requests and looking for the "right" answer, and that won't work because he is not being logical. He just feels all blah and rubbish and he wants you to know that he feels blah and rubbish. And it's OK for him to feel that way and he will also not feel that way forever.
If you feel anxious about trying the middle approach, try setting a stopwatch on your phone (without him seeing) and see how long it actually takes him to calm down. I would bet that it is actually less than 5 minutes, yet you are feeling every second drag on as though the whole thing is 20+ minutes.
A couple of content creators I like who have helped me with the over-empathising issue and helped me see how to help a very deeply feeling child through big emotions without getting lost in them are Janet Lansbury - her website is very searchable, so if you google Janet Lansbury 4yo emotions or something like that, you usually hit on a helpful article. And theteachermomma on instagram has some excellent posts recently too.
If this is happening once every couple of weeks, I don't think you have anything to worry about in terms of neurodivergence, but if the techniques for ND kids help, then use them!