Does anyone offer help with physical assistance for someone with limited mobility?

You can call an ambulette service for transport to a doctors appointment. They will transport him down the steps in a " transport chair" and into their medical van.

Caregiving Agencies have employees that can help where physical help is needed. You would need to call around and see what are the minimum number of hours and the hourly rate. To have someone come over the last minute would be extremely difficult.

Maybe it is time to look for a new residence where there are no steps involved, Hubby might need a wheelchair in the near future. Possibly look at a senior living complex where the complex has Aides that could help.