@abalthas
@colleenyoung suggested a social worker. They can be very helpful.
Calling Medicaid may offer some suggestions you haven't thought of. My handicapped cousin had Medicaid and they provided him transportation. They even paid to have him transported to my house, a 600-mile round trip.
If you live in an area that provides city bus service, buses are often equipped to accommodate wheelchairs.
There are also volunteer groups providing medical transportation.
Another helpful option might be to join Nextdoor. It's a computer program/app and provides a way to receive trusted information, give and get help, get things done, and build real-world connections with those nearby. People are very willing to help. I see it all the time.
The Department of Aging may have options as well.
Have you talked to your doctor regarding the availability of transportation needs?
Good luck,
Jake