At-will employment is inherently ableist garbage.
I’ve seen my partner go through 3 different jobs that all found various ways to fire them or pressure them to quit because the “accommodations” given helped nobody but the company.
When you give companies the power to terminate employment at their own discretion, they will use it at every opportunity they can, especially towards people who are deemed “difficult” (i.e., disabled).
They will always find a way around discrimination laws.