Getting help with independent living tasks, without SSI/medicaid

Hi all. I'm in the process of applying for SSI and Medicaid (and vocational rehab) so that I can access support that I need to be able to move out and live independently (at least, independently by my standards). But with all of that being cut, I don't know if I would actually get it... I'm still going to keep moving forward with my applications but I want to know what other options there are.

Right now I'm in an autism program that I go to once a week, and that will help me build skills over time. But I would need more in depth support, I'm not sure exactly what I need but ideally someone who could help me with getting tasks done at home and also teach me how to do these things. I've found some local programs that offer this kind of support but they all need a specific Medicaid funding waiver... Is there a way that I could just hire someone to help me with these things? Some of my online friends are significantly physically disabled, and they rely on either their partner as a caregiver and/or a paid care assistant. But that's mostly for physical support needs, so I wasn't sure if this is even possible to do?