Should I continue with ESA Appeal

My son, 24, has autism and learning disability. He was in ESA support group, until a recent health assessment where he scored 15 points (for coping with social situations) but zero points in all other areas and was moved to WRAG. He needed me to take him and stay with him during the assessment and I answered 95% of the questions (as he wouldn't even make eye contact and was clearly uncomfortable). My concern is that he currently does 3 hours of voluntary work a week, although is buddied with someone. After 8 months of travel training he is able to use one bus route independently, although he will text me once he is at the bus stop, once he is on the bus and when he arrives. He is unable to deviate from his current route and will not use it during school holidays, as it is too noisy. All other times he leaves home he is accompanied by an adult. I need to prompt him with his daily living skills and help organise his day. I am told that being in the WRAG may mean he has to go and see a Job Coach at JobCentrePlus every six months. My son would be unable to get there independently and would certainly not go in unless an adult was with him. This is my concern. His anxiety and difficulties coping socially (even with those familiar to him) impact completely upon his day. He needs so much support, but as he already does some voluntary work is there any point continuing with our Appeal. Mandatory reconsideration was turned down. Any advice would be very welcome.