I'm about a year into learning I have RA. I do have occasional hand cramps, wrist pains, elbow pains, and achy shoulders when I drive. It depends on the distance and the weather.
I wear compression gloves to help With the hands and wrists issues while driving.
There is several driver's services out there. In my area there's Masters Care, A Caring Man with a Van, etc....
Lupus, RA, Fibromyalgia, Glaucoma, Asthma, Hypothyriodism, Sleep Apnea, Depression, Allergies, diabetes, and benign familia tremors
When life throws you lemons....
Pick them up and throw them right back at them! :))