I have sensory issues, things with coordination, touch, balance, etc that are common in ADHD people but also Autistic people (which I am not) and other learning disabilities and disorders.

So I understand the mind body disconnect that some people do not understand. For example I am afraid of heights, I rationally know that I am in a safe place, but since I have balance and coordination problems even if you rationally know that you are a safe place like on a mall in the 2nd or 3rd story and you are ten feet away from the rail, part of my body just can't "pretend" or "rational" it away.

Some of this stuff probably has evolutionary advantage such as staying away from corpses and such with the feeling of disgust.

It is a different theory but a 1977 theory postulates motion sickness probably is an evolutionary advantage of avoiding things that can be ingested that are toxic, since such things create a sensory mismatch between the eyes, inner ear, and other sensory aspects of the vestibular / balance system. Put another way your body can't rationally stop feeling miserable for being miserable makes you more likely to throw up something that your body thinks is poisonous.

Comfort is not the same thing as evolutionary advantage, sometimes you survive better by your body making you miserable. Sometimes the sense of comfort is an evolutionary advantage if it causes you to achieve homeostasis but there are times when our body specifically wants us to act and change for our own sake.