Pardot Forms - WCAG Compliance

My organization wants to make all of the Pardot forms on our website WCAG compliant. I'm curious if other members of the Trailblazer Community have embarked upon this project before? If so, I'd love to hear about how you were able to make your forms completely compliant with these standards.

What types of edits did you make to your Form Layout Template code to achieve this (CSS style sheets and JavaScript)? Was there any specific code you added into your layout templates that allowed screen readers to better read information from the form's HTML? What major hurdles did you come across and could give advice to others on? etc.