harry m wrote: I would like to know the best way to travel to ESA medical to help my claim
Just use common sense, if you have problems walking then try to avoid doing it, if you have issues going out on your own, then go with a companion, if you are unable to climb stairs, you can check whether the assessment centre is upstairs, even if there is a lift, due to health and safety you may be required to agree you can use them.
The reality is that you cannot avoid all aspects of the journey, so it is as much about explaining how you have dealt with these problems as actually getting there.
Gordon