You touched on a big part of the answer in your question.
Both of them testified before Justice Baudouin. I was there for all the testimony, and what emerged was how carefully they had considered the issue for so many years. Like other people with disabilities, the two of them had access to all the necessary supports. Mr. Truchon constantly pointed out that, as a person with a disability, he had all the help he needed on a daily basis. That was not at all the reason why he was seeking assistance in dying. The same is true of Ms. Gladu, but she has not yet followed through with a medically assisted death.
Overall, patients with disabilities are very familiar with their conditions, and they are the ones requesting medical assistance in dying. Neither doctors nor anyone else is forcing them to obtain a medically assisted death.