I wouldn’t say it a true work-around, but my father has told us he will not do anything we *demand* of him, but if we make a *request* which he can turn down, he will usually be okay with doing the task. He likes being helpful and appreciated. A “request” from authority or with consequences if he turns it down, does not count.

This may not work for everyone, but it works for our family. And it only works because he’s old enough to be near the top of family/social authority. He was a rebellious son and there was no workaround for him to obey his parents.