What should I do if my company can't accomade an option for me to work remotely?

I am diagnosed with MS disease recently and currently on STD. Vertigo and weakness (lack of control) in my right arm and leg are the symptoms prevented me from continue to work. The vertigo seems to occur intermittently which is, something I believe can be managed with the right prescription drug. As for the weakness of my right arm, although this makes it extremely difficult for me to type on a desktop keyboard, but I am more than willing to cope with this difficulty. My biggest concerns is the weakness of my right leg. I don’t have a lot of control on my right foot to keep a steady speed when I drive or step on brakes. I checked in with my boss and he has informed me that my company can’t accommodate an option for me to work from home remotely because I am a non exempt employee. Do you have any advice for me?