What's next, do you think parents providing for their children is an agenda, merely so the parents can feel good about that glowing feeling about being a good parent?
You don't seem to understand what the word "agenda" means in social interactions. It has a negative connotation, it is an ulterior motive, something you are hiding from the other person because they wouldn't like it.
That doesn't apply to normal positive-sum social interactions. Again, see my example about parents and children.
You are misunderstanding the meaning and usage of the word "agenda".