You should ask directly from Allah for your needs. But you can not call waseela like Ya Ali Madad the shirk either.
If ‘iyyaka nastaeen…’ means Ya Ghous Madad is not allowed then ‘al Hamdo lillah’ (Hamd is for Allah) should also mean that no Hamd can be done except for Allah. Yet we know that Prophet’s very name is Muhammad (One With Hamd)!
Cherry picking words from Quran like people typically do is a sure sign of going astray. Every sect gives Quran as a proof of its authenticity. Kharijis did it to justify the fatwa of kufr on Ali.
If ‘iyyaka nastaeen…’ really be implemented then dialing 911 is shirk as well.
Comparing Ya Ali Madad with Meccan calls of help from Laat and Uzza is a preposterous argument. I think it was ibn Wahhab who used it for the first time in Islam. It shows what a low life he was to compare Laat and Uzza with the Prophet and his Ahle Bait.