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Whilst we have seen PIP assessment reports used to confirm an ESA award we have not to date, seen one used to deny ESA.
Whilst there are similarities between the two Mobility requirements there are also fundamental differences, for example PIP is a walking test and ESA is a mobility test that includes the use of a wheelchair even if you do not use or even own one.
Have a look at our ESA Claim guides and if you have any specific questions then please reply to this post and we will do our best to help. See
www.benefitsandwork.co.uk/help-for-claimants/esa1 Gordon