Make it a service. "Does master want me to navigate?"

Other examples.... think like an executive assistant... "Does master want me to arrange the reservations?" "Does master want me to create the menu?" (for cooking at home.)

If he says no, wear a blindfold during the trip, don't take a menu at the restaurants, at home create choices, put together the options and ask for his decisions.

You can make your environment successful for you as a sub if you remember you are providing the services to your master and present them that way.