Yes, I can relate. I was only approved for disability a few months ago, but it's something that I have thought about. I don't feel well enough to work right now (except for a day or two occasionally).

There is a program for people on disability who want to try to return to work. The web site is here. There are rules about how much you can earn and how it affects your SSI payments.

I don't know all the details of the program. My impression is that it mostly leaves your Medicaid coverage alone, because withdrawing a person's medical coverage is not conducive to helping them to keep working. (Amazingly sensible, isn't it?)