Interfere is defined by the Cambridge Online Dictionary as:
to involve yourself in a situation when your involvement is not wanted or is not helpful
I am looking for a word that has essentially the same meaning but does not have the negative connotation of "not helpful."
For example, if I have a teaching assistant who will be teaching a class, I could say:
If I wish to, I will interfere.
I considered 'intervene' but it seems to be about solving problems or difficult situations which I do not want to imply. I want to say in the example that I can interfere (in the class) whenever I decide regardless of problems.