My wife uses a wheelcair, but can manage short distances on foot
We had a system
Find a pub for lunch
Drop her and wheelchair off at start
Park car in Pub, and walk back
Do the walk, sometimes with her walking and me in the chair
Finish at pub, have lunch
It only requires planning
As an aside...
We had a mobility scooter prior to the wheelchair, and were on Catbells' access track
A couple of serious walkers objected vociferously about the scooter.
So i introduced myself as a representative of them "Disabled off road racing club" and explained we were researching the route for next years event where we expected a thousand scooters and wheelchairs being timed across the route
Watching them fume was a brilliant (if petty) revenge for their discrimination and I can only imagine the Grink in the local papers in the next week or so