I've also struggled with the internal guilt of wondering whether I'm "disabled enough." I think part of that comes with how so many able-bodied and able-minded people want to dictate the entire narrative, in the first place. If people with disabilities (categorically) are largely identified as primarily those who have "visible disabilities," there will be fewer people to fight back against the direct "othering" of us. And that's what "they" want. It's internalized bigotry that I have to unlearn, and an obstacle where we are stronger as a united community.
As a person with severe mental/emotional anxiety and autism, however, I do freely use the words "insane" and "crazy" to describe people who are engaging in ridiculous behavior. I do it because it's in a context where I'm clearly not talking about them/us, and it conveys my self-righteousness and anger, authentically -- plus, it's a metaphor. On the other hand, I do take issue with, say, being explicitly made the punchline of a "joke" by Jim Jefferies (regardless of how "antiableist" he might individually proclaim to be).