That's honestly not your fault, though. I'm positive the training was less-than-adequate.
To put it in perspective, I've been with UPS for ~10 years, started driving May of this year, and I still feel like a clueless idiot a majority of the time. Truth be told, management prefers their employees ignorant-- we're easier to manipulate when we don't know * because we haven't been told *, and at the end of the day we're the ones that will be held accountable for following bad instructions because "you should've known better."
But yeah.... walk, don't run. Don't drag your ass either, though, walk like you've gotta hit the bathroom but the closest one available is at 3 blocks away. Also keep in mind that not every driver is going to feel the same way as the driver you're talking about. A 22.4 driver that goes out with 250-350 stops every day might be ecstatic to finally get some help instead of being the one helping, whereas the RPCDs on the same route for the past 10 years will look at it exactly as you described: stealing food off his table. More than that, though, it's possible that having help could * up his dispatch in the future-- especially with the PVD not following the same methods that a driver has to follow and getting deliveries done at a rapid-fire pace.