If braking and/or acceleration is an issue, the inclusion of hand controls could be the perfect solution. There are other acceleration alternatives, however, including an electronic device which is supplied with a hand-operated brake. Alternatively, you might feel happier with a left-foot accelerator if you have limited right-leg mobility.
Another solution is to have adaptations made to existing pedals, causing them to be extended, thus bringing them closer to your driving position.
If steering is a problem, there are alternatives to a traditional steering wheel, such as a steering ball, which many disabled drivers find easier to operate because it requires single-handed use. Actually, a range of steering aids are available. For instance, you might benefit from the addition of one or more remote control devices, which can be used to operate indicators, windscreen wipers and headlights, etc.