My step daughter has cerebal palsy and is completely wheelchair dependant(non weight bearing) but as she is in electric chair i always took the view that we wouldn’t take a disabled space if only 1 or 2 available as others may need them more,as long as we can get a space where we can unload her safely she didn’t need to be right outside wherever we were going.
Since my wife has now got Ms she has a badge too and is really struggling with mobility so when out we have a choice of 2 badges now if together! After 12 years that i have been with them we didn’t even know where you were allowed to park but have now found some useful disabled spaces and i will park on yellow lines too if its better,and often the limited time spaces like half hour no return in hour etc which a traffic warden told me are unlimited time for blue badge.
A few weeks back after parking in a disabled space we ended up a little way away and on the way back i could see how much my wife was struggling (honestly dont think she could have made it!)so i suggested that i go get van and collect them both from where they were(a handy bench to wait)
When i went to get van i felt really guilty being on my own,and maybe i imagined it but seemed like people where staring and thinking i was a scumbag abusing blue badge.No one actually said anything but i really felt bad and very guilty as if i was doing something wrong!Obviously not the same as your street parking issue at home though which sounds like real abuse.