Of course, it would depend on what disability is in question.

If someone has never moved in their lives, or never seen anything in their lives, or never heard anything in their lives, I imagine it would be difficult for them to know what it's like. But people who are born blind do claim to see in their dreams, although it's disputed how similar their visual experienecs are to ours.

I'm guessing that, in a general case, if those impaired people can imagine what it might be like to do the thing they can't, their minds will try to simulate it in the dream. But maybe a deaf person can't even imagine what this sense of 'sound' might be like. I don't know. I haven't talked with a deaf person. But blind people apparently can imagine visuals, or they claim to be able to.