At most, I would offer to walk it for them when I walk my own.
I dislike when people try to get RSPCA etc involved without talking to the owners about it first. There may be more to it.
I did this for my neighbor when she broke her ankle last year. Barely knew her apart from I knew she walked past the front of our house daily, and one day saw someone else walking her dogs at lunchtime. So I asked what's up and he was her son, and said he could only get there at lunchtimes to walk them. So I offered to take them for their 3 walks per day when I take Eric out. He was grateful. She didn't expect the offer either.
Her dogs didn't get along with Eric at first, but they got used to each other and after a few months the lady was so happy, she offered to look after Eric and our chicken (Rocky) if we needed to get away for a weekend or anything. Nice neighbor.