Benefit advice?

Not quite sure how to use this forum as I'm new and very confused! Forgive me if I'm doing it wrong. I'm in desperate need of help with my new pip form, I've been claiming pip for almost 3 years (previously DLA) so have to apply again and I'm terrified! I was in the top rated mobility of DLA but they decided to make me one point short when applying for pip, to which I lost my car, because they said I could plan a route down the road to the shops I did have someone helping me with my ESA, but she has proved quite unhelpful and have, after more than one appeal, been put in the work group despite the fact I can't work and am still trying to appeal about 3 1/2 years on! My story is quite lengthy and because of my benefit issues and what happened to my husband, if I lose my benefits, I have nothing left in me to carry on. Any advice is much appreciated

Thanks for your reply Gordon. I have vaguely skimmed over all the information you pointed me to and I think maybe it's too much for me to take in, trying to fill this pip form in, I'm going to have to find someone to do it for me, it's too confusing and stressful for me to understand.

I can't follow a route as it's too confusing, even locally I have to be careful, but the dwp took my to rate mobility away from me because they said I could plan a route, but yet there are people that get to rate and have jobs, I do not know why I'm deemed different.