AP, some (or most) schools have on their website information on their student medical insurance program with respect to cost, coverage, etc. Sometimes you have to dig around for it though. Most schools offer subsidized coverage for student employees (research assistants, etc.) and often they have an on-site medical clinic which may also be able to provide some sort of support.
In general, if you have concerns about disability accommodations, health benefits, etc., be sure to reach out to your schools and ask questions. They generally don't mind answering questions, and are there to help.
For those concerned about admission, be sure to discuss your unique challenges in your admission essays as appropriate. Some schools have a Diversity Essay or similar, which is separate from the Statement of Purpose or Research Statement. In that case, the Diversity Essay would be the best place to bring up these challenges and how you've overcome them.