but have you considered: magical familiars that are also service animals
big shaggy mobility dogs with too-intelligent eyes and runes rippling under their skin
handsome ravens that ride on the back of your wheelchair, picking up dropped keys and pens, pushing buttons, helping you mix your potions
snarky talking cats (who may or may not be ancient demons) that demand to be carried on your shoulder and criticize your spellwork but also lick you and purr when you’re disassociating or alert you to incoming mania