You do not get to discriminate based upon physical disability.
Uber can fix this in about 5 minutes by giving drivers a button to push to waive wait time fees due to disability
Those two sentences do not mesh. If you are waiving wait time fees for disabled people only, then you are by definition discriminating based on disability. If you want to NOT discriminate based on disability, then you have to either:
1. Charge everyone the same wait fee like they're currently doing, or
2. Don't charge anyone wait fees.
You can't treat people differently and then pretend that's not discrimination.