You can put all the onus on employers you want, but unless the people using the services that are being provided are willing to accept things done a little differently, it won't work.
I've got some diagnosed issues that mean I'm perhaps a little slower than someone who doesn't, and although deliver the service well and timely, there's as many people who think my delivery is too poor and I shouldn't be in that job, because it's different to their expectations, who shout at me, call me stupid, personally insult me, as there people who are absolutely fine with it.
It's not like I'm in a life or death role, or those few extra moments have a lasting and traumatic effect, I'm in a low paid service role that unless you get in dramatically and criminally wrong, is not even a minor inconvenience. Yet people increasingly won't tolerate it.
I used to do jobs away from the public, however I now have physical issues that mean I can't, so what do I do?
Gotta be out working because I'm able, but just not anywhere I might slightly inconvenience someone with my issues.
If we want disabled people, people with mental health issues, people with conditions like autism out working because they can, then society needs to actually accept that instead of thinking it's a great idea until it affects them ever so slightly and then it's all 'they shouldn't be doing that job!'.