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Why not stick a few little potty chairs around so you don't need to assist?

I agree with @catomd00. Tell him if he wants to sit on the potty he can do it himself by sitting on the little ones because you aren't going to lift him up and just go there at specific times of day (after snack, lunch, before and after nap) unless he asks and actually goes.

Get a little looster, it's a step that goes around the base of the toilet and allows them to get up and down easier...it also allows them to rest their feet on it, which is key for making bowel movements.

We are in a similar situation.

So here are a few things we've been doing:

1. We got a little Ikea stepstool and put one by the sink and one by the toilet. DS1 can get up and on the toilet set by himself that way.

2. We created a process. Going to the potty means grabbing your own toilet ring, putting it on the potty, pushing the stepstool to the potty, get up and on the potty, and the once you're done, you flush, take the ring off and put it away, and then we go wash hands. He goes up on his stool by the sink, washes his hands, dries them off, and then we put on a pull-up or underwear and pants. Basically, it creates a predictable process that is sort of involved and we never let him skip a step. As a result, if he wants to drag us in there, he knows he's going to have to do all those things.

3. We legit award pees and poops lavishly, but he gets nothing for sitting unproductively.

4. This was the gamechanger for us - we got a digital kitchen timer for the bathroom. We set it for 2 minutes (or 1 minute if we're in a rush) and tell him when the alarm goes off, we're all done. So he can sit there, but when it beeps, we're out. We also use it when he's trying to drag out his bath.

5. On the weekends, we try to keep him in his underwear, rather than diapers or pull-ups. He seems to understand that it feels different and we've had more successful pees/poops when he has those on rather than the pull-ups. Even training underwear seems to make him more prone to accidents than just straight up underwear. We cover the couches in towels and just keep reminding him to let us know if he needs to use the bathroom.