Last I crossed the border there was maybe 2 years ago, there was no need for any assistance unless you are travelling with (only) Israeli passports, however we did get a quote for border crossing assistance as well as taxi into town and taxi back to the crossing all included with a day tour to Petra.
You should note that there are different "exit fees" when you come back, they range from 60JD to nothing or 10JD depends on how long you stay etc.