So with my sensory disorder, I can't feel pain typically unless it's a lot of pain. I am sensitive to textures though. I try to let people know that I have a sensory disorder so they're aware (I'm very fortunate to work in a Healthcare setting where it's more understood). I don't negotiate necessarily, but I do tell em that I may need help at times with things (e.g., checking a pulse, feeling wet vs dry) and that's how I deal with it in a workplace setting if that makes sense at all. I'm not good with words lol

Theaspieworld (TAW) on YouTube has some great videos on how he navigates it in a professional environment