I'm ctrl+F'ing for "agenda" on the post and getting zero results, sorry. I don't need to "put words in your mouth", you are literally the one who used the word "agenda".

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".