Not sure if I can be of any help but have done a number of home mods to aid accessibility. My wife is a paraplegic (has been for 42 years - darn horses) and we have adapted three personal residences. We (my wife and I) both understand what the problems are for a para but not sure the extent of your disability.
Currently designing a new retirement home for us. In addition, I have done several commercial buildings which met ADA standards.
My knowledge of SIPs is limited having done only two churches that used them on the roof and that was under the direction of a very knowledgeable Amish craftsman. But, as Eric said, SIPs are merely a type of wall.
Unfortunately, my software is Chief Architect X11 and I see you are using HomeDesigner Pro 2020 which is not totally compatible with Chief Architect X11. I can read your plans and can send back a revision in Chief but you will not have all tools needed to modify it fully. You CAN DO some editing but not all.
I can look over what you have done so far which will perhaps point us in the right direction for continuing. At the moment, I am not clear what you need.
Let me know if I can help.