Milroy's first major climb was conquering Auckland's Sky Tower in 2012.
He has also climbed the steps at Melbourne's Eureka Tower, the Stratosphere Tower in Las Vegas and the Q1 tower in Sydney.
"I am constantly trying to challenge myself. I love pushing my limits and I know that if I put in the effort for something I will get the results."
His trip to North America will double as a celebration of completing his Bachelor of Communications degree.
"Most people get drunk [to celebrate], I climb towers," Milroy said.
The journey is not only about climbing and tackling misconceptions about disabilities.
Milroy is also on a mission to raise funds for all-terrain wheelchairs for people with disabilities in Samoa. Sixteen chairs have so far been donated from funds raised by his previous climbs.
Milroy was born in Samoa and has experienced first-hand the challenges of growing up in the Pacific with a disability.
"There is not much wheelchair access and not many wheelchairs available. Having a disability was like a curse on my family," he said.
"Giving someone a wheelchair is really powerful. It is like giving someone a new lease on life."
Donations can be made at: https://givealittle.co.nz/cause/jordonclimb