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 Yes, give consent unless you fear they might say something to your disadvantage.
However, it is actual quite unusual for DWP to seek the opinion of your medics so you should include any evidence you want them to consider.
Have a good look at our PIP guide before you start your application. It explains the criteria against which you will be assessed and also how to explain your difficulties in terms that DWP will understand.
PIP help for claimants May I suggest that you bookmark/favourite this on your web browser now so that you can find it easily in future? This will allow you to return with further questions or comments about your PIP without having to start a new topic each time. We ask members to keep everything relating to the same claim in one topic as it makes our 'job' very much easier - and I hope you will find it useful too