ADA accommodations experiences

Does anyone have experience with ADA accommodations either for yourself or someone you know well that you could share. Field pharma reps with any sort of mental impairment (cognitive fx, Anxiety, MDD, ADD, Panic or anything similar)? If so what types of accommodations were made and was the rep able to succeed with them? This really is a serious question, please don't bash. Genuinely need examples of other reps experiences.