I had a similar experience but with my partner. Wrote a longer rant[0].
It's quite hard to notice a lot of these things before you actually have to deal with them. I knew ramps were needed and automatic doors, but the shock was more about little things. But, a big thing I've noticed is that like 90% of things that would help us would make lives easier for normal people too. Which this was a big thing that opened my mind of how to address a lot of accessibility, is just think more deeply. If it affects a wheelchair it also affects a stroller, your wheeled baggage, things being dropped between cracks/small gaps, being able to clean between gaps (and subsequently the mold, water damage, grime, etc that makes things more costly in the long run!), your robot delivery drone, whatever. Ironically making the world more accessible for wheel-chaired people makes the world easier to robotize, which in turn can then also help disabled people. But the lesson is to think deep, because there are so many parallels. So if you hit upon one, you benefit the others. So you don't need to sit around thinking of every possible disability to make things accessible, which is a big blessing in itself. But if you think with care you will make the world much more accessible. No one expects to be perfectly accessible to everyone and disabled people know the world isn't going to bend to them, but that also doesn't mean we shouldn't try and care for our friends and family (other humans). But since it can help, just remember that a lot of things that help them will also help you.
[0] https://news.ycombinator.com/item?id=39748213