Pip assessment a week moday

Hi all
I'm new here and just looking for some advice, I'm having to go through the reclaim process with pip, as I was giving an end date a tribunal when my dla to pip move was unsuccessful, I'm due to go for assessment a week Monday.
I've also had to go through esa again and this time was moved from wrag into the support group, should I take a copy of my esa report with me to the pip assessment, as I feel this time I got a very good Dr assess me for esa who understood alot about mental health, I understand pip and esa are two different benefits but some of the questions do overlap each other, especially going out, social situations etc.
Appreciate any help

Thank you Gordon I will draft up a letter with my dad, so the crossover can be identified easier, as I was only 1 point short of receiving stardard care at tribunal last time, I think the esa assessment might help a little, as my dad and I fully expected me to receive standard care but no mobility at tribunal, and it turned out to be the complete opposite standard mobility descriptor (e) and no care at all due to the lack of one point.