Amanda
The Tribunal Decision may be of assistance in your PIP claim, it will be limited by it's age and also due to the guidance issued to PIP assessors which is different from that for ESA, but it none the less shows that the panel, who would be expected to have an excellent understanding of the requirements for this ESA descriptor, evaluated you as meeting it.
Gordon
Nothing on this board constitutes legal advice - always consult a professional about specific problems