Thanks to everyone who helped when I posted months back about my daughter’s PIP. We appealed the mobility part and she went from getting no mobility, to getting 20 points and higher rate!
She is unable to drive, partly due to her condition. I have a car because she can’t use public transport and I help her get to places she needs to be. Initially thought I'd be able to get free road tax, but form says nominated driver must not use the vehicle for their personal use. So am I right in thinking, if I use it to drop her brother off somewhere, or get the food shop, I'm unable to apply for road tax help?