The part about it being "a skill you have to practice" is close but not quite it. Asking for help is more like a muscle than a skill. Skills are stuff you learn once and then you have them, but this one fades if you don't use it. I went a few years never asking anybody for anything and when I finally needed to, I couldn't get the words out right. It came out weird and defensive and the person could tell something was off. So yeah, practice matters, but the bigger thing is you lose it fast when you stop.