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You can't do the job "just fine" if there is a job function you aren't able to do. I'm not sure why you are having such a hard time understanding that.
Do get qualified help from your State Voc Rehab department or local one-stop job search center. Both services are free.
One thing I do to help with physical limitations to prevent injury and have better range of motion on the job is Feldenkrais classses. They are slow, easy, 1-hour classes, typically once a week, held at community centers, the Y, etc., in which people usually lie on the floor and explore gentle, safe ways to move more easily without pain. They typically cost $10 - 15/class. You can search for classes in your area by googling the Feldenkrais Guild for certified instructors. Best wishes.