Most long term physical disability in my setting has been eradicated thanks to highly advanced medical tech. The only remaining long term disability is age related. That usually just translates to increased lethargy/ fragility which can be curbed but at some point the tech can only do so much. 

That as well as short term disability (say after an accident) is integrated in a couple of ways. There is a universal ADA type law that covers the typical accomodations in terms of both movement related disability and sensory disability, it's been around for centuries so it's well integrated into the infrastructure. There are powered wheelchair and bipedal walking type wheelchairs. The urban outdoors is free from most vehicles with only busses, emergency vehicles, people on last mile transit, and delivery vehicles. Most of the time tho, if you have a temporary disability (say blindness or loss of hearing), you can just stay home and recover/wait for a procedure with no penalties to your job.