I don't really expect a straight answer to this, because the sort of people who loftily declare what is best for society as a whole usually just get angry instead of answering, but how do you justify the claim that this helps society as a whole? The ADA helps the minority by making the lives of the majority worse (higher costs, taxes, more effort etc). Making that tradeoff might be a highly moral position and justifiable on that basis alone, but there's no way to justify it on the basis of helping society as a whole. Society isn't a single thing that can be said to be helped or hindered. It helps a few people by hindering the many. It'd be better to just admit that and then argue on moral grounds, like via reference to religion.
Not the OP, but I think part of the answer is that society benefits from ensuring a certain amount of baseline rights, privileges, and opportunities are open to all its citizens, even when it's inconvenient. It's not just a moral position, it also helps ensure one group doesn't consolidate power and resources.
For example, I would want to make sure you still have access to voting even if it costs a disproportionately high amount of money to ensure that right for you or if it's much more probable that you would vote against my personal selfish interest. We generally want a society with a shared set of core principles rather than just a purely transactional society.
You’re right I’m not thinking of something super objective (I’m also not particularly interested in an objective measure of what’s good for society), but here are a few ways the ADA makes society better:
1. More people are able to contribute to society in ways they were unable to before. Personally, my life is better because I’ve learned from people of various abilities. That wouldn’t be possible if my school and workplaces were unable to accommodate them.
2. We all get older, we all lose abilities as we age. The ADA is helpful to literally every elderly person. Not to mention all able-bodied people are one accident away from requiring ADA amenities.
3. As other comments mentioned, some ADA regulations help more than just the disabled.
4. I don’t expect this to be a majority HN perspective, but I believe we’re only as free as the worst off in our society. Lifting the floor is always a good thing, in my opinion.
The ADA also helps anyone who has kids and a stroller. Also helps people when they are injured and immobile for a time. Dealing with these things in other countries makes you appreciate the ADA so much more.