Uncle Arthur(in "The Joker is a Card" and"The No-Harm Charm")and Endora(!)(in "Your Witch is Showing")offered to help Darrin with his problems.But my question is this:In the latter Dick Sargent as Darrin episodes did any of Samantha's relatives offer to help Darrin with his problems?

Remember when Samantha was trapped back in time, I believe it was the Henry VIII storyline -- Endora gives Darrin (Dick Sargent) instructions as to how to restore Samantha's memory of him once he goes back to meet her (words to repeat, with coin or amulet stuck to the forehead -- with honey, luckily covering it). So while it's mainly to help Sam, Endora is also helping Darrin.

Esmeralda was also generally quite nice to Darrin but I can't recall a specific example of helping him.... ?