PIP Appeal and ESA to UC form

Hello

I’m new to all this so go easy on me. I have PTSD (post traumatic stress disorder) and fibromyalgia and I’m currently in the ESA support group. I’ve been applying for PIP the past two years but they have been stalling me BIG TIME. I’ve heard they do this to see if your condition gets better so they don’t have to award you. I’m through to the ICE at the moment having gone through the appeals because when doing my assessment the assessor was 50mins late and was CONSTANTLY prompting me to end it; and after 10-15mins SHE ended it and said I failed to answer questions which I did not. I began to have what I thought was a panic attack but I was triggered into a flashback, she was very rude and did nothing to help or show concern. She kept interrupting me as if to confuse me when I said my migraines vary but then went onto say “I’m in pain all the time anyway” (meaning my body) and she interrupted “but you just said it varies” she wouldn’t let me speak. I’ve told ICE this repeatedly and they have my diagnoses of both fibromyalgia and ptsd and I’m in care cluster 7 which is enduring non-psychotic disorder (high disability) and this discusses the complexities. So I got all my stuff sorted and sent it off as a neighbour kindly helped and they said they lost my stuff - but I sent it recorded and showed the proof and who signed for it - they apologised. Now I’ve received a work Capability Assessment for UC50 and I think capita are being sneaky to try trick me if I write one thing out of place that can affect my PIP claim. What do I do? Do I fill out the uc50 as if coming from a PIP point of view - as in the member guides it says mobility is less than 20metres for PIP but 50m for ESA. Yet the 20m is more me tbh. Hope someone can help!