Quote Quoting collegeADA
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The email ended with the ominous statement "Please acknowledge your agreement with the terms of your Medical Withdrawal by responding to this e-mail; if you do not respond, you may be ineligible to request readmission."
There's nothing ominous about the statement.
Quote Quoting collegeADA
Again, I never responded to this email, so I'm not bound to any contracts, I essentially just left, on good terms, where everyone "thinks" I'm on a Medical break.
Why the scare quotes? Aren't you on a medical leave?

Your failure to respond to the email triggers this language: "if you do not respond, you may be ineligible to request readmission". You have now been informed of the terms for readmission.
Quote Quoting collegeADA
I applied for readmission after 1 semester, and I was told that I could not return to school, since I had not gotten psychological or neuropsychological testing.

A semester later, I had gotten the neuropsychological testing done, but the head of their Mental Health department wanted a "full" printout of my psychological testing, instead of the one I sent in.
We can't read the correspondence from here, but you have suggested that the college wanted neuropsychological testing and documentation of your psychological progress and that you chose not to provide the latter. Why would they want to set you up for a repeat performance of the mental breakdown that led to your prior withdrawal? Also, colleges have heightened concern these days over whether students they admit pose a potential risk of harm to themselves or others.
Quote Quoting collegeADA
So for the second semester in a row, I was denied access to a college education, because my school wants me to get more medical tests.
You were denied readdmission, as you were warned could happen, because you failed to document that you were sufficiently recovered from your mental illness to successfully and safely continue your course of study. You were not "denied access to a college education" - there are colleges all over the nation, and you can apply to any one that you choose.
Quote Quoting collegeADA
I've seen that in the ADA, it says that employers cannot require someone to get medical tests due to their disability. I'd assume the same holds for colleges and their students.
Provisions limited to employers would only apply to colleges if you work for them. Also, "After a person starts work, a medical examination or inquiry of an employee must be job-related and consistent with business necessity. Employers may conduct employee medical examinations where there is evidence of a job performance or safety problem, examinations required by other Federal laws, examinations to determine current oefitnessî to perform a particular job, and voluntary examinations that are part of employee health programs."
Quote Quoting collegeADA
Ponder that for a moment, I was DENIED an educational experience on the basis of my (mental) medical condition.
No, you weren't. You were denied readmission to a college because you failed to comply with their notice instructing you of the steps you needed to take to regain readmission, and refused to document that you were sufficiently recovered from your mental illness that you would not simply repeat the events that led to your prior withdrawal.
Quote Quoting collegeADA
The ADA enables students with ADD to get extra time on tests; wouldn't denying someone an entire year of college education, on the basis of their mental illness, be considered a way more serious violation of the rights of the disabled?
The extra time, for certain disabilities, is deemed a "reasonable accommodation". There's nothing reasonable about your expectation that the college will ignore your past history of mental illness when considering your application for readmission.
Quote Quoting collegeADA
A) I think they have been illegally discriminating on the basis of my disability, under the assumption that I entered a contract, which I did not.
You are confused about the legal implications of the notice you received. As it explicitly stated, your lack of cooperation could make you ineligible for readmission. The college has told you what you need to do to be readmitted, and you are refusing to take those steps. You are bringing this outcome on yourself.
Quote Quoting collegeADA
B) If I sue them, what could I gain?
From what you've told us so far, at least to the extent of what a court might order, probably nothing. You have given us no basis to believe that the college's demands are unreasonable, and have provided no explanation for your refusal to comply with their conditions for readmission. Perhaps there are some important facts you left out?
Quote Quoting collegeADA
C) If I sue them, can they deny my readmission, since I never responded to the email?
The one has nothing to do with the other.
Quote Quoting collegeADA
If they're clearly intending to let me back "if I do X, Y, Z", can they go back on that just because I sue them for an ADA violation?
Why do you believe that their request that you document recovery from your mental breakdown, to an extent sufficient to enable you to complete a course of study, is an ADA violation? If it bears repeating, you're not an employee and your impression about what can be demanded of employees is incorrect.