Hi There! Sorry to hear of your bad times.
I have severe RA and have damage in most of my joints. While on disability I had Physical and Occupational Therapists who mainly decided what I needed. I was given many helpful items while I was on disability. For instance, canes, a walker, wrist splints, sleeping splints, orthopedic shoes with special insoles, a higher toilet seat, a bath seat, firm/puffy cushion, a commode, openers, reachers, etc. The OT made parts that made the windows easier to open and to enable me to lower thmy Daughter's crib easier, etc. I'm not sure what you mean by walking straight. A back brace and so on, should also be available to you.
I know the Drs. are overwhelmed with patients here but my rheumy told me to call him when I need him. I really appreciate him and his help. I try not to bother him but he has sllipped me in for a drug change or a shot of Pred. the same day, if needed.
I hope that you feel better soon.
Oh I should add. Our Gov. supplied us with a downstairs bathroom, a better shower and bars for me in our upstairs bathroom, a second railing on the stairs. They also offered a riding chair for our stairs and a pull up above our bed to make it easier to get out of bed and a wheelchair ramp which I refused. I refuse to be wheelchair bound. This was when we bought our home. You could look into this on gov. sites. Sorry, I do not know what one it is now or if it still applies. It doesn't hurt to look.