Yes! The central character is a gay man who also has cerebral palsy. He hires a male escort. The scene is short, with no frontal nudity. But they are naked on a bed and the escort fucks him. The escort is a hooker-with-a-heart-of-gold type, who says he has other clients with cerebral palsy. Both actors are handsome and despite the subject matter it was appropriate for family viewing. It's a comedy. Only 8 short episodes. I think the sex scene is in number three.
"There’s one of the most frank depictions of gay sex on TV in a good long while, and probably the first-ever TV sex scene between a disabled man (O’Connell, who has cerebral palsy) and a friendly, cheerful gay sex worker."
Review in Vulture