AQR is the enter the line, leave the line when you need to, then you can come back and wait at the lightning lane merge for your party (or your party, I guess, waits for you there depending on how long it takes). This is available to everyone, regardless of disability.
Return to Queue (RTQ) is what you're talking about that is similar to DAS from pre-digital times. Except, unlike then, it's not approved by guest relations or accessibility team, it's something where needs now have to be explained at every attraction and the CM at every attraction now determines whether the need qualifies for RTQ or not. The Accessibility Team is telling people this is an option for them just as they are saying AQR is an option, but it is unclear at this time whether there are any behind-the-scenes notes for CMs to see that the Accessibility Team recommended RTQ for a person. It's also being tracked and has been reported by a CM (in this thread or somewhere else, I'm not sure) - that this is supposed to be given very infrequently, it will be audited, and CMs will get in trouble if giving it too often.
I feel bad for attraction CMs now being put on the front line for this in a way they never have been before, and I sincerely hope that Disney is making notes available on the backend for CMs to see whether the accessibility team recommended RTQ or not.