Getting help with independent living tasks, without SSI/Medicaid?

Hi all. I'm autistic with moderate support needs, I have a very hard time with doing the tasks that I would need to be able to live independently. 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) since my home environment is toxic and emotionally draining. But with all of the Medicaid cuts, 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?