All social interactions include some form of “manipulation” if we remember that the word manipulation comes from the french word “to handle skillfully”.
I think what we want to pay attention to, is INTENT or INTENTION.
This makes all the difference in the whether the outcome is to motivate and help, or to manipulate and harm.
[Even then, manipulation isn't necessarily all harmful, nor is motivating all helpful. Plenty of generals have motivated their troops to march into enemy lines where their lives are harmed.]
I think about a massage therapist “manipulating” muscles to help bring relief to a person — the intent is therapeutic and respectful.
On the other hand you have a parent grab a handful of a child’s arm to pinch that child if the child has done something wrong — the intent is punitive and not respectful.
Both are manipulation of a muscle part of a person — but done with very different intentions.
Thus it’s not about the actual action in social interaction cases as the intention of the person planning and taking that action.