You don't need a disability to use the VA medical system. You just have to have served actively and discharged honorably. I don't have any disabilities.
Now as far as the guys you "know" they could have TBIs or other mental issues. Many injuries especially if active in a war are not obvious.
To use the system it's on a sliding scale as well. If you make less than somewhere in 35k a year or less area you pay nothing.
Don't blame the guys low on the totem pole when it's always wars being fought for mainly the wealthy and supporting the military industrial complex. All our Wars since 1960 fall into this category. We should of carpet bombed the taliban and hunted Osama down and been done in less than a year. Iraq? never should have happened. Trillions lost to the taxpayer but billions made in the process for the wealthy.