Everyone prejudges, but not everything is bigotry.
Disparaging people? Refusing service? Bigotry.
Assuming someone might need help? Not bigotry.
What about the old-fashioned “Boy Scout helps little old lady across the street” story? Is the Boy Scout bigoted for assuming she needs help? If a man holds a door open for a lady, is he “bigoted”, since he might be assuming she can’t do it herself?
Of course not.