Incentivizing helping with rewards just creates a status system, like what already exists in SoT in multiple ways in the community.
There are countless threads and tutorial videos where people can learn basics, tips, and tricks.
All a new player needs as an individual is to play organically without being rushed, enjoy and attach to the game, and develop organic relationships over time if they don't wanna go at it solo. The entire game is just practice and a place to mess around for fun.
The rest is developing a mindset that avoids getting stuck in the mud about things, that's all sot is, a sandbox that can be very fun or very discouraging, depending on how people play it and the circle of people they keep around them.
Accept sinking as being a part of the game, avoid sus accusations and focusing on toxicity all the time, chill with people that don't make the game less fun, win.
The game is only as complicated as people decide to make it. Don't treat it like it's a job and never sail by "I need to do.." Nobody needs to do anything, do what is enjoyable and/or rewarding and avoid burning out.