I count myself as able-bodied. I have one small issue which means that I do not drive. I also have children, one with SN. I am telling you this as I am speaking from my own experience in this context.
I believe that it is a gendered issue, simply because the overwhelming numbers of carers are women, most small children are cared for by women, the vast majority of children with disabilities are looked after by mothers. And obviously, because it is women who become pregnant.
I never thought about this issue when I lived in a big city and I was childless. I could not drive, but the public transport was great and I had easy access to wherever I wanted to go. The pavements were also well built and wide.
Then I moved to a smaller town. Public transport was unreliable, but it didn't bother me, as I could walk wherever I wanted to go. The pavements were narrow, but again, this was not an issue.
Now I have children and everything has changed. I can still walk, but I also need public transport - one of my children has hypotonia and cannot manage long distances. He can barely manage the ten-minute walk to the end of the road on some days. I use a buggy with him, but it can get tiring pushing it all day long - much better to take the bus. The narrow pavements mean that I cannot push the buggy along the pavement and I have to walk in the road - this goes for anyone with a baby in a pram/ buggy/ whatever. This is where there are pavements, of course, as in a lot of places there simply aren't any.
Public toilets seem to have been designed for thin able-bodied people. There is generally no space to take the buggy in, and the cubicles are narrow, sometimes you can barely close the door. Often there is no disabled loo, although this is getting better. There are also not many public toilets and you have to walk for miles to get to them - fine if you are by yourself, but with the children I generally find myself going into a cafe and asking to use the toilets in there.
Next year, the school run will be an issue - it will take me at least half an hour to walk the children to school in the morning (and half an hour back again for me!).
Of course, I realise that these could be problems for anyone, but as I said at the beginning of my post, the majority of carers are women, the majority of people pushing buggies and taking small children to public toilets are women, the majority of parents taking children to school are women.