Inclusivity starts with the choice of activities. Purely competitive team sport can exclude people who aren't very sporty or who have a physical disability. Mixed setups, where teams earn points for collaboration, creativity and sportsmanship, are inherently more inclusive.
Ask about disabilities or injuries in advance and adapt the programme. Always offer alternative roles: timekeeping, coaching, judging, photographer. That way everyone is involved, even without actively taking part in the sport.
A good event partner designs the programme so that participation never feels compulsory, but is always rewarding.