Some of the chair setup things are user-specific depending on disability issues - it might or might not be possible to do something with a center footrest given the issues you show with your feet... This is the sort of thing that you really need to work with your PT/OT types to make happen, along with the dealer.... The key I've found is not to let them tell you what you need, but to turn it around and tell them what you DEMAND, and put the job on them of figuring out how to make it happen....
Programming also involves a lot of personalizing, depending on just what you are capable of if your hand function is limited... BM's settings are fantastic but he also has extremely good control ability, a person with more limited function would probably want to tone some things down a bit... It is less an issue of strength than it is one of ability to precisely move - can you consistently and reliably move the stick from say 15% to 20% of range or to any other specified spot, or do you just slam it from one end of travel to the other? There are ways to set up the programming better than factory for either, but the approaches are different to some degree...
Dealers are a very mixed bag at best - there are a few very good dealers / techs that know what they are doing AND that will do what YOU want, rather than what THEY think is 'good for you' (often with the excuse that their liability insurance won't let them do what you want) but seemingly the larger majority are hacks that can't use a screwdriver without detailed instructions and photos about which end goes to the part and which goes in the hand.... (Often they are described as the guys that couldn't master the art of repairing lawnmowers and other outdoor power equipment....) The few that have competent dealers mostly get what they want, the rest of us if we don't do it ourselves....
Also don't let the fact that you can't do something yourself be a total barrier - there is NOTHING on a chair that is all that complex and hard to fix, despite the manufacturer's efforts to convince us otherwise.... I have long suggested that if one is limited in personal abilities then it is worth trying to make connections into the local Ham Radio groups or see if there are any 'Maker-spaces' near you, both are likely to have folks that will be happy to help you out with DIY mods just to stretch their own skills. The key thing is to think of it as recruiting a set of 'hands' to do stuff for you, while you learn all the theory stuff that is needed to be the 'brains' that tell the 'hands' what to do....
ex-Gooserider