This paper presents selected findings from a study examining the autonomy and self-determination of adults with disabilities. In a previous publication (Kompár & Balázs-Földi, 2025), we reported findings related to self-identification, decision-making and responsibility-taking, as well as independence in activities of daily living. The present study focuses on interpersonal relationships, particularly friendships and intimate partnerships, as well as employment and housing. The research investigates the realization of autonomy from the perspectives of both persons with disabilities and their caregiving family members, primarily mothers. Drawing on semi-structured interviews, the study explores opportunities for establishing and maintaining friendships and intimate relationships, family members’ perceptions of these relationships, and attitudes toward sexuality. In addition, it examines participants’ employment and housing opportunities and their future aspirations in these domains. The findings suggest that persons with disabilities experience limited autonomy, particularly in relation to sexuality and intimate relationships. Family members’ attitudes toward employment are characterized by caution and ambivalence, while considerable uncertainty surrounds future housing arrangements. Perceptions of disability continue to be dominated by an ability-centered and deficit-oriented perspective.