Having big parking lots for people to walk across has the same problem. If you can't walk far it's better to have density so you don't have to walk as far.
Not everyone who can't really walk much qualify for handicapped status. The majority don't. The elderly as just one example.
Additionally, on-street parking gets you even closer to where you want to go. In fact, if more people who can walk did walk, it would make it even easier for people who can't who won't have as much competition for good parking spots.
What would your solution for a blind peron be in this car dependant world? Having multiple transportation options is the most fair system. Right now in many places the car is the only option.
I don't see any comment asking to remove all cars from the roads. Only that viable alternatives to driving be made possible by sensible zoning instead of building everything solely to cater to cars.
Would accessibility be a solution here? I am speaking about public transport that has dedicated spaces for wheelchairs, has ramps to get on and off etc., as well as sidewalks that are accesibil by wheelchairs, with a smith surface and ramps to get on and off to. Maybe combine that with lifts to access pedestrian subways and overbrides.
Possibly it could also mean the ability to rent, best case for free and at a place reachable by public transport with very little or no walking, a wheelchair or a simiiular solution that let's one drive rather then walk.
I'm just thinking loud, but maybe such solutions should be considered in every walkable city.
Would it work for you to drive to a larger parking garage (or even better, use public transport to a larger subway or bus station) and then use some form of battery operated micro-transport type vehicle fit for your type of limitation to move around the sidewalks/bike lanes in what can then be a more compact city center?