In a similar situation, I was pleased to learn about the Eisenhower matrix. Which is a way of prioritising tasks that works for me.

That image is from the article that I linked to. And there are many more examples on the Internet.

Of particular interest in the context of your post, the bottom left quadrant might guide you when to ask for help. Like most productivity techniques, I found that it took time for this to become a daily habit. But it definitely helped me when I felt overwhelmed by my tasks.