The Field Museum has two elevators, located relatively close to one another. Be attentive to which elevator you're using when going to the upper level: a short distance on the ground or main level can save you a long trip around the balcony on the upper level. To get up to the Evolving Planet and SUE, you'll want the elevator that is by Underground Adventure on the ground level, and behind the elephants on the main level.
Restrooms on all floors are accessible, but the restrooms at the west end of the ground floor are the easiest and have the most space.
If you're driving and use accessible parking, the east lot may have spaces available even after it is otherwise full. A sign at the entrance should indicate whether it is totally full or has some accessible spaces. If it's totally full, the Soldier Field lot is the next best option.
The museum's accessibility page has more information about the Field For All phone app, which includes a sensory-friendly museum map, and also has information about Sensory Saturdays which are occasionally held in the Play Lab.
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