First, the limitations those conditions cause tend to make us more aware of and grateful for the things we can do and experience.
But, in my opinion, the greatest advantage is the mutual understanding with other people who have limitations even if they aren't the same as our own. Sharing the experience of realizing we're different in some ways from other people and there may be some things we can't do, but that we're still complete human beings who can accomplish a lot helps us connect at a deep level. Of course if our special needs are similar the connection is even stronger.
People who care for others with special needs can also connect at a deep level.
It's easy for us all to become friends.