Navigating complex indoor environments remains a persistent challenge for mobility impaired (MI) and blind and visually impaired (BVI) individuals, despite advances in assistive technologies. This paper presents a large-scale, user-centered survey involving 109 BVI and 190 MI participants, providing a comprehensive examination of their indoor navigation experiences, preferences, and unmet needs. Results reveal that while BVI users often rely on general-purpose visual interpretation apps for indoor navigation, MI users are largely unfamiliar with existing solutions. Both groups articulated a strong desire for adaptable, real-time, and infrastructure-free navigation tools that align with their individual abilities and interaction preferences. Feedback on a conceptual system, MABLE, demonstrated high interest in its features particularly in unfamiliar environments and strong alignment with participants’ “ideal” wayfinding solutions. These insights not only inform the development of MABLE but also underscore critical design considerations for inclusive, personalized, and context-aware assistive technologies for indoor wayfinding.