I've had a dozen or so apprentices over the years. Most had never been in a shop before. The number one problem I've seen, by far, has been basic math. Before you set foot in a shop, you need to know how to convert fractions to decimals, work with negative numbers, and calculate percents. If you're not there already, get there before you even take a shop class. Those text books "written in Japanese" will make much more sense once you've made it to that level.
The next problem is reading drawings. You need a certain amount of spacial awareness. It's a combination of learnable skill and unlearnable inborn ability. I've been surprised by how many people just can't do it. Get a simple part, and it's drawing. Try to match the features on the part with those on the drawing. If you're comfortable with that, then get a different drawing, and a block of anything that's about the same size and shape. Draw the features from the drawing onto the block. Look up "third angle projection." That's the standard in the US for how the drawing views are rotated on the page, and understanding it is necessary if you want the part to match the engineer's intent.
If you can do those things, then I'm confident you can learn basic machining. Whether or not you could be useful in a shop would, of course, depend on the nature and severity of your disabilities.
Don't worry about a few mistakes. Just like they should have told you in that welding class, no one gets it right the first time. Or the second. Most of us on this board have been doing this for DECADES, and we still come here asking for help.
Someone above mentioned army manuals. Those are usually written assuming the reader has absolutely zero prior experience, which makes them a great place to start.
Someone else above mentioned CNC programming. While I agree that it may be the best fit for you physically, I've never found that you can start with that. If you can't do at least the basics on a manual machine, all you'll do as a programmer is break tools and scrap parts. You need to spend a good chunk of time actually at the machine, even if you're not turning the handles. You'll need an understanding of how much material you can cut, how fast you can cut it, and why those limits are what they are. You'll also need to get a feel for how to hold the parts you're cutting. If you can't figure out a way to hold it, you can't cut it. And if you're programming, that's not something you can leave for the operator to figure out.
I wish you the best of luck. Some of us on here can get a bit surly. But if you don't take that personally, this is a great place to ask the questions that will inevitably come up.