I've got a congetnal foot issue that lables me 'differently abled', but I ride just fine. I've had a professional bike fitting, which gets my sadde/cleat position about as ideal as I can get with my condition. I use a custom orthoic in my shoe to help my allighment. As such, my feet feel pretty good riding.
Saddles: The right height is vital; but beyond that sometimes we just have to try a bunch before finding one that works.
Handlebars: For me, only an issue with long days back:back bikepacking. But otherwise, no.
What's holding me back most is just finding time to ride as much as i want.