GO FOR IT
I love yoga.
I also cannot stand on one foot, no balancing with eyes closed, and very wobbly altogether some days!
I found an MS-yoga class locally and it was terrific, you didn't have to be concerned about achieving perfection. Another woman in the class was a fulltime wheelchair user, and another had very bad balance, but the teacher modified each move so that they could participate fully.
I went to a normal able-bodied class about 4 years ago and I hated it, the teacher kept urging me to stop holding onto the wall and I didn't want to share my MS with a class of body-beautifuls.
If you find an easy-going class who can adapt moves for altered or limited mobility from whatever cause, you'll really enjoy it. We have a real laugh in the MS-yoga and my sleep improved, my balance, stamina and strength all improved a bit.