I've had a few "ah-hah" moments like that as well. A lot of my project is about ergonomics, how an arboreal quadruped with a prehensile tail would design a door, or a means of moving up and down floors in a building, or computer input and output devices, etc. Then I'm reminded that my own surroundings were designed by and for tailless terrestrial bipeds. I think about how a yinrih would fare on Earth. Nothing about his health or mental state has changed, only his location. But now he's suddenly disabled since nothing he encounters day to day is designed with him in mind. The reverse is also true, a human at Focus would have a hard time even navigating indoor areas, which have lower ceilings, and probably couldn't move between floors because yinrih use ladders rather than stairs.

It was a revelatory moment for me, that disability is just as much a function of your surroundings. Make the surroundings more accessible and the person becomes less disabled. It's not like I didn't know this stuff already. I am blind after all, but it recontextualized it in a very helpful way.