The answer to this question is of course "it depends" though it might just be a bad overall idea.
I am disabled in a way that I'm pretty weak. Ambulatory to an extent and live independently but there's a bunch of stuff I either can't do or it takes me way longer than an average person to do. An easy example is that if I do a large grocery haul for me it could be 5 or 6 trips from the car in my wheelchair where an average person could do it in 2 trips.
This isn't really stuff where I would need a medical aid and those services are wildly expensive. As it is I pay a house cleaner business at $60/person/hour.
To get to the point here... if I did contract with a cuddler for 1-2 hours a week would it be wildly out of line for me to request a portion (probably 20 minutes) of that time is spent doing some stuff I can't do on my own?