I've already told you and you have hand waved it off as
not a solution: I think we need to fix our very, very serious and longstanding housing supply issues.
If it were feasible for someone to rent a room for not much money and live decently without a car in a walkable neighborhood such that working part-time with decent wages or full-time minimum wage allowed a person their independence, then people with impairments wouldn't be prisoners of dysfunctional and stressed families who are often doing all the wrong things because their scared to death and don't know how to fix anything.
We've built a world in which only a small number of people can possibly keep up the rat race. We've torn down more than a million SROs which used to be normal housing and we now think of that as only housing for homeless people, not housing for young, single adults or childless couples or seniors or students.
(SRO stands for single room occupancy. Copy-paste isn't working for me at the moment, so I can't provide a link.)
In the US, it's nigh impossible to live without a car. It's nigh impossible to find someplace really cheap in a walkable neighborhood that's suitable for a household of one to three people.
Parents who know their child can't function well enough to work all the damn time and afford an expensive home and expensive car etc know this is a nightmare from which the entire family has no escape route.
The escape route for everyone is to make affordable housing in walkable neighborhoods the norm again so ordinary people who can function some of the time but can't run full throttle all of the time can protect their own agency, establish their independence and not be driven crazy by other people freaking out about the burden of caring for them forever with no hope of a solution.
I can work part-time. I can't work a regular job.
I currently live someplace cheap in a walkable setting. I've grown healthier and more functional because of it.
I would like to replicate that and make it more the norm in this country, like it once was.
That's a thing that works but it's a thing you aren't going to find plausible if your focus is on how to deal with people after everything has gone wrong and it looks unfixable. It's fixable. It's also very much preventable in many cases.
We just refuse to work on that. We are too busy screaming about how the sky is falling.