The way I read it they're arguing both that it's condescending to think that they need to be told to say hi to custodial staff, and that the custodial staff might find it condescending for someone to hold a door.
One of the interesting things I've found while travelling is the different forms of interaction with customer service, hospitality, custodial staff. US tends to have a 'customer is always right' sickly sweet interactions. China has custodial staff that almost live at the office (the feel of Mum doing the dishes and washing, and that you're almost in their house). France/Paris you always say hello (bon jour) when you enter the store or it's rude. I've never had such "rude" blunt interactions as I did in Sofia, and thought it was me/tourist/english, but no, I witnessed equally gruff dismissive interactions for locals.
I'm arguing treating "custodial staff" as some distinct group that deserves special treatment, in deep need of your smiles and door holding is condescending. The tone of the original article and this reply came across like the authors think they're somehow above the "custodial staff". Like they are lords talking about the peasantry.
I chat with/hold doors for everyone I encounter. I said custodial staff here because that was the thesis of the original article. No one's "in need of it" in any sense other than most people benefit from social interaction and being acknowledged.
I'm sure they find it condescending. This whole post is kind of condescending TBH.