Hmm... I'll try to address everything you said

1) what caused the anxiety about cars
2) what caused the health related anxieties?

You don't have to answer 1 or 2 if you're not comfortable. Just trying to help you rationalize your anxieties. But I hope you're able to broach those topics in therapy with one of your two therapists, or even both really. You deserve to be happy!

3) disability

Please don't feel guilty about that! Everyone is different and everyone has their own capabilities, so we shouldn't compare ourselves to others. And besides, eventually everyone gets to the point they can't work anymore. Some of us stop at 30, for example, while some of us work to as much as 70 or 80. But we all "retire" all of us at some point. It's just a matter of when we retire.

Also, just because someone is working, it doesn't mean they're able to function well. No one is perfect, and we all lose functionality as life goes on. What you see on the outside is not always the same on the inside. Looks can be deceiving.

4) marginalization

Life DOES get better if you make the most of it! Just because you might not function as well as others and your functionality might "decrease", it doesn't mean you can't pick up new hobbies like pairing of writing. It's a matter of what you choose to do and how you do it