Agile talks about continuous interaction and collaboration between the scrum team. The team members should NOT wait until the next daily scrum to ask for help, in this way, they are introducing delays in the process which will impact the overall sprint goal. If there is an obstacle, it should be raised then and there. In a sprint planning, the team commits the sprint items as per their capacity.
For example, I have 50 hours of committed work but due to some blocker, I got stuck. Now, if I wait to talk about it the next day or next daily scrum, I am wasting my workable hours which could have been resolved by raising it then and there. The question also specifically calls out for the ‘experienced team members’ which means if the experienced members are resorting to waiting, then it sends the wrong message to other team members. Such behavior within the team also portrays hidden conflicts or team members hesitating to talk. The Scrum Master should help the team in understanding the importance of real-time discussions, and promote healthy dialogue between the scrum team. Even the Scrum Master can come up with some team-building activities to make the team collaborate more efficiently.