It's in Henderson and Transylvania counties. It's an amazing forest.
They have several wonderful waterfalls, (bridal veil, triple, high falls), some 4/10 or 6/10 of a mile in, easy hike.
If so has handicap parking permit you might be able to get permission to drive in. You should contact them, or any place you're considering to find out about their accessibility.
2 waterfalls have picnic shelter's where you can sit and see the falls, so if you hike in you'd have a place to rest before heading back.. They also have hooker falls, which is across the road from the main forest, and is often crowded because it's the easiest to access. I haven't been to highlands, but have heard nice things about it.

https://www.dupontstaterecreationalforest.com
Last of the mohicans and hunger games were both filmed there.