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Welcome to the forum, you might want to have a look at the following FAQ which explains where everything is
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I'm afraid an ESA assessment report cannot substitute for a PIP assessment.
You can ask for a home assessment or try and push for a Paper Based Review but in both cases you will need the support of your GP to write to the Assessment Provider either to explain why you cannot attend at their offices or why any assessment would pose a risk to your physical or mental health.
Gordon