Fiercely independent disabled wheelie here

I can't help with the abuse question, but adapting to my disability has become somewhat a specialist skill for me
One of the most challenging aspects, for me, about becoming disabled was having a body that felt like 'access all areas' to carers sometimes. Bar questions of capacity and best interests, and that's a high bar to set, we always have the right to autonomy over our bodies. Even if that means that we're not dry properly or someone thinks we've not washed well enough or whatever. Just because we physically can't do it ourselves doesn't give anyone else the right to decide what they think is better. We are allowed to make 'risky' decisions, we're allowed to make choices other people might not like, or go against best practice or guidance.
Often, people can forget this....that we are not another task to achieve or a thing to tick off.... Just because your body doesn't work doesn't mean you have lost all capacity to make choice in the process...and that we want independence, even if that means the task is slower.
Honestly, getting anything on my lower half is site to behold as I can't push with my legs, so I'm wobbling around like a slug. Socks. Hilarious. Thank goodness for old lady giant fluffy numbers because otherwise I'd be fighting all day to get a pair of socks on me. When I was in hospital people would actually walk in and take my trousers from me without saying a word and just shove another pair on me. Erm..nope. I asked for a chair in the shower so I could do it myself, and instead was offered a bowl of water at my bed

. When I said nope, I needed a shower, I was told that was 'too dangerous'. Good grief I'm just a wheelchair user taking a shower it's not like I'm suggesting white water rafting.
I'm sorry for the situation you are in, it sounds deeply uncomfortable. I'm wondering if disability aids would help bridge the gap between your disabilities and someone having to do it for you? They are not pretty things, and I have a love hate relationship with mine... but, they do mean I can cover the basics on my own. It is slow and unauthadox but that doesn't matter.