The nature of the plasma wave modes around the ion kinetic scales in highly Alfvénic slow solar wind turbulence is investigated using data from the NASA's Parker Solar Probe taken in the inner heliosphere, at 0.18 Astronomical Unit (AU) from the sun. The joint distribution of the normalized reduced magnetic helicity σm (θRB, τ) is obtained, where θRB is the angle between the local mean magnetic field and the radial direction and τ is the temporal scale.Two populations around ion scales are identified: the first population has σm (θRB, τ) <0 for frequencies (in the spacecraft frame) ranging from 2.1 to 26 Hz for 60º < θRB < 130º, corresponding to kinetic Alfvén waves (KAWs), and the second population has σm (θRB, τ) >0 in the frequency range [1.4, 4.9] Hz for θRB > 150º, corresponding to Alfvén ion Cyclotron Waves (ACWs). This demonstrates for the first time the co-existence of KAWs and ACWs in the slow solar wind in the inner heliosphere, which contrasts with previous observations in the slow solar wind at 1 AU. This discrepancy between 0.18 and 1 AU could be explained, either by i) a dissipation of ACWs via cyclotron resonance during their outward journey, or by ii) the high Alfvénicity of the slow solar wind at 0.18AU that may be favorable for the excitation of ACWs.