You can stop as often as you need to. Of course, there are not truck friendly parking spaces everywhere. Your situation is a bit different than the average. Once you get assigned a truck, if it has a sleeper area you can put a camping flush toilet in the sleeper. They are about $70-200 dollars.
Most of use, especially as we get older need to do a much more convenient bathroom break, unlike yours. I would keep looking for a company that you want to work for and explain to them what is going on. It is possible you find a trainer that will agree to you putting a camping toilet in the sleeper or more likely agree to stop any time you need.
I understand your situation now. I've worked with a great guy at a previous office job that had Crohns. Not all OTR companies have you ride with a trainer for months, most have you ride with a trainer for a few weeks to a couple of months, but I've heard of some company, was it Willis Shaw or Wiley Sanders based out west but bought by Schneider, that had a VERY short training period. I was remembering it was maybe a day or two and then on your own in a sleeper truck.
Riding with a trainer is where you learn probably 90% of what new drivers learn about this job. OTR outside of the big cities are where you are going to have maximum flexibility for a bathroom break on short notice. Local work is going to have a short-ish ride along period in a daycab where you are near regular bathrooms, but traffic and little parking are going to work against your needs.
The key is to keep looking. There is a way to do this.