Inclusive urban mobility is a central issue for the quality of life in any city, especially for those with mobility limitations, known as people with disabilities (PWD). The objective of this study was to propose an accessibility corridor for Quadrant 3 of the city of Taquaritinga-SP-Brazil and to diagnose the pedestrian accessibility conditions for people with disabilities (PWD) or reduced mobility (RM). The methodology used for this study involved the use of the free software Google Earth Pro, through the comparison of satellite images, in order to diagnose deficiencies in urban pedestrian places, focusing on the quality of accessibility ramps, the most commonly used materials, and the most common defects in sidewalks. The results indicated an urgent need for investment and targeted actions to improve pedestrian infrastructure in Quadrant 3 of Taquaritinga-SP, aiming not only to meet the basic mobility needs of PWD or RM individuals but also to promote a more inclusive and welcoming city for all its inhabitants. There is an urgent need for the implementation of more accessibility ramps, especially at public road intersections. Some of the suggested measures to promote integrated and inclusive urban mobility in the city of Taquaritinga-SP are: larger and well-maintained sidewalks, urban tree planning, improved asphalt pavement, and more appropriate ground sign. The study showed that the quality of accessibility ramps was rated between poor and fair. A slightly better rating was given to the types of materials used for sidewalk paving, considered good, with the predominant type being “screeded or smoothed mortar,” with or without painting. The most common pedestrian defects in the proposed corridor were rated as fair, with urban furniture predominantly obstructing the movement of PWD, RM individuals, among others. Data revealed pavement maintenance based on successive patches of asphalt. This study's data draw local authorities' attention to improving infrastructure in pedestrian spaces in Quadrant 3 of Taquaritinga-SP to make the city more inclusive.