i don't enjoy the meditation sections.
I think it's because I already slow down so much due to my disability, I kinda resent having to interrupt my functional hours for 20 minutes
Then don't.
I know the illustrations in the Zen program show the meditations done in lotus pose. But it's not necessary to sit like that--or to sit at all--to meditate.
You can meditate lying down.
You can meditate while walking. (Just walk someplace safe. Not in traffic!)
Some people find they experience greater benefits from longer meditation sessions. Others do not. If meditating for 20 minutes at a stretch makes you feel resentful of the theft of your time, that's not a good meditation session for you! I would encourage you to break it up into shorter sessions. Maybe 2 x 10 minutes. Or even 4 x 5 minutes. Also: consider when is the best time for you to do your meditation. Doing it during your "workout time" may well be an entirely unhelpful time for you.
For myself, I like to combine meditation and physical relaxation. So I meditate in
shavasana at the end of a workout. For me, 10 minutes is the ideal time to meditate like this, but I will do it for shorter periods when pressed for time. (I usually try for at least 5 minutes.)
I also do seated meditations--but usually in my desk chair, not on the floor. Having the backrest means I don't have to work to hold the position, so I am more fully focused on the meditation itself. For me, this is an excellent method of releasing mental stress and clearing my mind of distractions. I often do it at the beginning of my day (usually when I've just sat down at my desk) as a means of setting my intentions for the day. I will do it at other times too to calm down when I am angry. (Haven't had to do that for a while. But I did find it helpful during periods of my life when I was regularly being used and abused by family members.) Five minutes is usually a good length of time for me here.
I like to meditate in nature too: either walking in the woods, or sitting/standing at a lakeshore. For this I focus on some aspect of the natural world around me: the sound of waves in the water, the smell of the forest, or the green--sometimes in a forest I like to focus on the green of the leaves, and let my mind rest with an awareness of all that life surrounding me, embracing me, and me being a part of it.
I do other types of moving meditations too, usually with a yoga asana sequence that I know very well (so I'm not thinking about what move comes next, I'm physically on autopilot, like we generally are when walking). I don't typically use yoga poses that are challenging for me for this type of meditation, but rather I use movements and poses that physically embody the mental state I'm trying to achieve with the meditation. I have some yoga sequences I use in this manner which I have choreographed to pieces of music that also support the meditation.
I also meditate in bed, in shavasana, when I turn my lights out at the end of the day. For this meditation (and often for others as well) I just focus on following my breath. I don't time these meditations. They end when I fall asleep!
I personally don't find that contorting my body into
lotus pose has any benefits. So I don't do it. I do sometimes meditate in
half lotus, or in
easy pose (simple cross-legged pose) or
thunderbolt (kneeling with my buttocks on my heels--I don't kneel with my butt between my heels, i.e.:
hero pose, because there's just no benefit to doing that over thunderbolt and some pretty important reasons not to do it). But I only do this as part of a yoga asana practice and then only for a couple of minutes. Any longer than that in any of these poses and I start focusing on how uncomfortable it is to sit/kneel like that for an extended period of time. And that's not meditating!
A 20-minute sit in lotus pose--if you're able to do it!--will help to strengthen your back muscles. But there are lots of exercises one can do to strengthen one's back. I personally find meditation is more effective if I'm NOT trying to do muscular strength training work at the same time.
I hope you too can find a way to make meditation work for you.