Hi and Welcome to the forum, you might want to have a look at the following FAQ which explain where everything is
Welcome to Benefits and Work I hope you found the ESA guide helpful.
My own ESA face2face took around 30 minutes. It was carried out by the same nurse who did my last one a few years ago. I had the assessment recorded (cassette tapes this time) and took a copy home with me. I have no complaints about the way I was treated, there were no trick questions and I was happy with the eventual decision.
I'm sure members will speak for themselves