Transitioning from working to receiving disability benefits

I have been diagnosed with ASD and ADHD for several years. I currently am 36 and live by myself and am financially independent… but do not have any assets or savings. I am in burn out and am on the verge of being fired at work. I am feeling myself losing the grip on my independence because every single thing is becoming impossible. I have maxed my financial ability to pay for additional support for daily tasks (paying for grocery delivery, paying the neighbor kid to mow the yard, etc). I have a PCP, and a psychiatrist I have been seeing for years. Both have suggested going on disability. I have no idea how one is supposed to transition from working full time + financial independence to applying for benefits+ being approved for benefits+ receiving said benefits. If I lose my job… how do I avoid becoming homeless and losing my car while I am applying for disability and waiting to be approved? I have no savings. Is the best idea to white knuckle it and keep my job as long as possible and hope I don’t lose it before getting my benefits? If I lose my job what am I supposed to do in order to not lose everything else while waiting for disability if I don’t have anyone to help me financially? Any advice is welcome!