My brother cannot sign his name. It's not laziness or that he didn't learn cursive; he just literally cannot do it. Has to do with the autism. He just signs his name in print on school stuff, and that's fine.
My mom actually stopped writing in cursive on grocery lists and stuff around the house because she wanted my brother to be able to read it, and he just cannot read it. I had a friend back in middle school who was dyslexic, and cursive was just impossible for her. I remember because she could not read our science teacher's handwriting (teacher wrote in cursive). She could sign her name, but let's be honest here: for most people, isn't a signature just their first, maybe middle, and last initials, and then scribble? Yeah...
I am on the boat of cursive does not need to be heavily taught. It can be busywork a bit, but I don't think it should be graded, and I think other than signing a name, it should be optional whether or not to use it. I know I never write in cursive and haven't since middle school (apparently, when I try to write quickly in cursive, it's not, um, legible. At least according to my teachers, who had me switch to print). We have more important things to teach. Like that New Mexico is a state.