Wilk
There is some equivalence but not enough that scoring for the ESA Descriptors will mean that you would score for the PIP ones,
First, planning a route is a separate Descriptor, PIP does not require a claimant to have planned the route that they are being asked to follow.
The PIP criteria consider sensory, cognitive and mental health issues that prevent a claimant from reliably Following a Route on the majority of days. ESA only considers the last two conditions and looks at reliability and time differently.
Lastly and most importantly, PIP is specifically concerned about the following of the route, it's navigation and what prevents a claimant from doing this. ESA considers a broader range of problems, for example; someone with Agoraphobia would score for ESA but would not do so for PIP.
Gordon
Nothing on this board constitutes legal advice - always consult a professional about specific problems