You are never at the end of your rope. Remember you are never alone or the only one. While no two people are the same with MS we all share in the "symptoms" and hardships MS can offer us.
Have you looked into state programs for insurance? Some, like NC have programs for preexisting insurance. I am currently in the process of switching over. I am not sure on the "qualifications" but its worth a look where ever you are located.
Have you tried any of the natural approaches? Personally I have seen great success with diet. I went on the Swank diet and have also removed milk and refined sugars. I have consulted with a nutritionists and added supplements and vitamins as well (lots of blood tests, this really helped my fatigue issues). Check your B12 and D first.
Learning and living everyday to the fullest. My MS blog http://mylifewms.blogspot.com/