Rule 43 Application or Judicial Review ?

I was turned down for my application to appeal to the Upper Tribunal with regard to the mobility component of PIP, which i should be entitled to under the mental health side of things. The issue is that when I attended the Tribunal they did not ask appropriate questions, but more importantly they presented two distressing events that occurred when there were issues on familiar journeys, to look as though they occurred on unfamiliar journeys, even though they asked another question about unfamiliar journeys where I made it perfectly clear that I do not make them. The necessary unfamiliar journeys made in the past 10 years have been facilitated by a family member driving me, but they did not ask, and because of how my brain works, i did not think to mention it at the time. I can't say that the Tribunal lied, but essentially the issue is that they have MISUNDERSTOOD and not clarified when another answer completely contradicted it. Any suggestions on how to tackle this, I believe i'm at the final hurdle now, so it's last chance saloon. I have no-one to represent me, not least because I see no-one and not even family members know the full extent of thing. Panicking now, which doesn't help my ability to read and take in information and use it appropriately.