In regards to the Disability pension I was lucky that after three knock backs I was approved 22 years ago.
I had a very supportive doctor who took about 3 years to understand just how bad my mental health was.
He actually apologised for not realising this sooner.
Ultimately it was not giving up and having the right supporting information.
Things have changed in 22 years so do not hold your breath.
As for your physical issues I recall spraining an ankle and calling my employer as to needing a "sick day."
All was good until later in the day when he had to much work and needed help.
I said I could not walk therefore drive yet he could not understand.
He said the work could be done sitting down so my ankle would not be a problem in regards to doing said work.
I said that if he wanted to pay for a taxi to get me the 40klms to and from work I would be open to the idea.
I also stated that if he could arrange a wheel chair or similar to get me around the workplace this would further his chances of me agreeing to work.
He would not fund this solution to his problem.
This request for assistance is basically how the NDIS and Disability Pension system is supposed to work in regards to returning to work but only if you do not have an employer (Australian Government) who wants to save money and therefore not help you achieve this goal.