This article explores the integration of rehabilitation and assistive technologies (Rehab & A-T) in the lives of People With Disabilities (PWD). It highlights the importance of including end-users in the development process and emphasizes the need for a shift towards co-development principles. The article discusses the role of technology in addressing both the medical and social models of disability and the challenges of overlooking environmental barriers and social determinants of health. It also presents practical frameworks and tools for co-development in Rehab & A-T and identifies gaps and opportunities in stakeholder engagement. The article concludes by advocating for inclusive design and co-development to enhance the efficacy and accessibility of Rehab & A-T for diverse end-users.