Hi Purity
If you check out the ESA guides you can see examples of the types of questions you will be asked.
www.benefitsandwork.co.uk/help-for-claimants/esa1 it is only very simple things that they may do which might require touching, for instance, asking someone to demonstrate the strength of their grip if they have arthritis. They may ask you to stand up and sit down again (which wouldn't involve touching.). If something is going to cause you a great deal of pain or distress you can refuse and say why or if you agree to do something and it hurts you should tell them.
Can't give you a maximum time, but on average you would not expect it to go over an hour and a half and it might be much less.
BIS
