This is an interesting thread. Making accomodations is very difficult for some people to do, IMO.

I don't have MS, but I do have mobility issues, with my PN feet and my severe arthritis, which gets worse by the year!

Like BTY, I have a very helpful husband who I does some things for me. Carrying stuff up and down stairs, lifting heavy odd things, etc. He does the wash, and I fold.

He plants, and I grow the plants from seed, and decide what and where they will be. Basically I organize and he helps.
I try and do most things for myself, and only ask him for big things, since I know he gets tired of helping me some days.
Many projects now are both of us working in our own ways to get something done...as he appreciates having me as company without any nagging.

I use a walking hiking pole now for outside, and up and down our steep outside stairs down to the street. This is mostly for balance.

I do some of the same tricks mentioned here, except I do wear underwear still But I wear easy to wash and care for clothing, and have minimal shoes that my feet will tolerate. With my left foot scar on the instep ..many shoes that hit that spot are now off limits for me. It is rare when I find a shoe or slipper, or slide that I can safely wear!