As someone who became disabled later in life, I can say this with first-hand experience. The ADA prevents employers from refusing to meet reasonable accommodations for people with disabilities, provided those accommodations do not interfere with their ability to complete the tasks listed in the job description.
Ah but you see employers will do everything in their power to shoot themselves in the foot if it means employees have a worse time. To them, since they’re broken people, comfort means laziness. So basically anything, no matter how obvious and proven it is, could “interfere”.
See, but employers, especially shitty ones, still bend over backwards to try and explain how even small accomodations are completely impossible.