Does current access to medical assistance in dying respect the autonomy of individuals living with a disability? We postulate that the notion of autonomy, understood from a procedural perspective, and its narrow application in the field of health care, for instance, through the practice of the voluntary and informed consent, need to be rethought to take into consideration the context and larger environment in which the assisted dying request is formulated. By addressing ableism and the relational approach of autonomy, we are considering various issues inherent in accessing medical assistance in dying for individuals living with physical disabilities. The concept of relational autonomy will be discussed as a potential vehicle for change with regard to justice, especially social justice.