UC entitlement

Hello there,
Me and my husband are both in receipt of contribution based ESA, both in support group and both have PIP enhanced rate for both daily living and mobility.
We did get income related ESA too, until an inheritance in May this year.
We have now almost used the inheritance on improvements and adaptations to our home, as well as dentist etc.
Can we claim Universal Credit now as a top up? Our savings are £9,500 and we live in a park home with site fees of £4414.37 for the next financial year.
Any help will be gratefully received, thankyou.