I don't think setting boundaries for yourself is talking for other people. For example, 'It's really shitty to call me 'crippled'' or if it's a friend 'Hey, that makes me feel shitty when you say that.'

I have a largely invisible permanent disability, but usually need mobility aids for it. In my view, if you want to tell them that it's just plain offensive to disabled people to call them crippled, it's no different than a woman saying that it's offensive to call women 'cunt' (outside of the UK).

Just because one disabled person is okay being called a cripple, it doesn't mean that everyone else has to be okay with it, just like one woman being okay with being called a 'bitch' or a 'cunt' doesn't mean all women will like being called that.

There are certainly differences between being disabled short term and long term. Still, in my view if you're being mocked for having a disability (being unable to do things), that's a form of ableism plain and simple. You're experiencing ableism in that moment, so that gives you more than enough 'license' (though no such thing really exists) to speak up about that specific ableism.

I'm not sure what kind of jokes they're making, but your boundaries and your comfort zone is what it is. What you could say really depends on the context- what they're saying, your existing relationship to them, how you're most comfortable expressing yourself.