Hi IASWWSX
Welcome to the forum.
You might want to have a look at the following FAQ which explains where everything is;
www.benefitsandwork.co.uk/guides-for-claimants/faq/forum.
I personally have not had any experience of using DWP home visiting service, during Covid the home visiting service was suspended, but I have been informed that it has re-opened.
In regards to your last question, I would advise you to contact DWP home visiting service and ask;
www.gov.uk/support-visit-benefit-claim Gary