Is a person sinful for disliking giving their belongings to others if they give them out of courtesy to avoid embarrassing them?

There is no harm in asking for assistance (ma'un). However, if one knows that another will give it out of a sense of shame, then it is forbidden for him to take it, and returning it becomes obligatory, due to the saying of the Prophet, peace be upon him: "The property of a Muslim is not lawful except with his willing consent." It is not obligatory to give items unless another person is in dire need of them and their owner is not in need of them. A person does not sin if he gives unwillingly or out of shame, but the reward for that is conditioned upon seeking the pleasure of Allah.