You wouldn't set out on a trip to an unknown land without a map or GPS, so why don't we do the same for our learners as we help them to embark on journeys of discovery.
Do you give your learners options in terms of the activities they do, the way they demonstrate mastery, or the order of the activities. These design choices are a few of the ways you can give your learners autonomy and increase their engagement.
There are many learners who would benefit greatly from more accessible design than there are learners who are in the categories covered by legal provisions involving learner accessibility.
I recently got a chance to put my instruction design skills to use on a very personal project as my mom had to learn how to treat a new health issue and use new medical equipment.