Travelling to the ES Assessment

Hi, I just joined and subscribed yesterday for the year and i've read about travelling to the assessment by public transport that all types of assumptions can be made about you. like going out alone. planning a journey etc.
i suffer from mental Health problems so i'm planning to get a taxi there and pay for it by myself otherwise i might just walk as its only 2 miles away. Regards to getting a taxi or walking there. Will less assumptions be made compared to travelling there by 2 different buses for example,?
Hope you will be able to answer this for me.
Many thanks

Thanks for the very quick reply.
I might be able to get someone to go with me.
Just one more question for you to answer when you get some free time.
I signed up for Universel credit at the start of April and i hand in. my not fit for work notes to the Job center every month but every second week they still want me to go to the job center for my weekly appointment and then the other weeks they do a phone appointment.
I'm just wondering should i complain that i find it too stressful to go there while im ill or should i not make a fuss and just go there every second week? Sometimes i just go there to tell them im doing therapy which they already know anyway and i can easily tell them this on the phone. So it kind of makes no sense.
Thanks for your assistance with this

Thanks for the reply Gordon, i really appreciate it.

I received my UC50 form a couple of days ago and i have to send it back by the 27th of June, when do you think roughly i should have to go the medical assessment?
I first claimed at the start of April.