My able bodied partner is tired of me having cerebral palsy

My able bodied partner is tired of me having cerebral palsy. He rolls his eyes if I take too long to get out of the car and he has made half way across the parking lot or to the storefront if we park close. He has also stated he is tired driving us both to work and being the one to drive all the time. We have a 45 minute to an hour drive to work and from work. I do drive but I don’t drive on the highway due to the fact I am scared I won’t react quick enough at high speeds. I also don’t drive long distances due to my legs hurting after long drives. I can drive short distances or if I drive long distances I have to take breaks. I can cook and clean but it does take me longer to do those tasks. He also does not like the way I fold our clothes. So I purchased a folding tool. He was in the army. So I understand why he is the way he is about his clothes. He also gets frustrated if it takes me 30 - 50 minutes to walk around in the grocery store to get grocery times. He sighs and tells me he would like me to hurry up and that I am taking too long. I don’t know what to say or how to feel. He has known about my condition since day one. I have had ex boyfriends be more supportive of my condition.