I know exactly how you feel. I have had the same trouble. The lawyer can help you get the disability initially, but then it comes up for review every few years. That's when you need the doctor to fill out the forms again.
The doctors seem to have their own agenda and hardly take time to listen. Someone told me once to always wear black to doctor appointments. If you wear black - I guess they have a harder time reading you and have to listen. I have tried it. It seems like it helps, but who knows.