Correct option is D
The highlighted segment "Have you want me" is incorrect because it uses the wrong auxiliary verb and tense.
• The correct auxiliary verb to be used is "do" in the present simple tense.
• The corrected sentence is: "Do you want me to come with you to the dentist?"
• The other options (a), (b), and (c) are not grammatically correct or appropriate replacements for the highlighted segment.