DL6294 typically arrives in B and DL3972 typically departs from A (which means a trip through the tunnel). The good news is that there are 3-4 later flights to MKE to pick from if you miss your flight. The bad news is that the next one is not until 4 hours later. While 32 minutes is legal (the MCT is 30 minutes), I'd probably try to get alternate flights. Without the mobility issues and the long gap between flights, I'd probably give it a go. But with the combination of the two, I'd hesitate.