PIP - Assessment provider

Has anyone successfully asked the DWP to use a different PIP assessment provider as a reasonable adjustment?

I’ve had a catalogue of issues with my current assessment provider, including complaints that have been upheld regarding staff conduct, behaviour, and failures to make reasonable adjustments. There have also been serious issues during the assessment process, including being told evidence couldn’t be used because it was supposedly unreadable, only for the complaint investigation to later find in my favour.

The ongoing problems have caused me significant stress and anxiety, and I’ve completely lost confidence in the provider’s ability to assess my claim fairly.

Has anyone asked the DWP to take circumstances like these into account and arrange for an alternative assessment provider as a reasonable adjustment? If so, was your request agreed, and if not, how did the DWP respond?

I’d be really interested to hear about other people’s experiences.