Hi Jodie
You have nothing to lose by going to a medical to see if you can stay on ESA.
You may regard it as humiliating but it will not be any worse than having to sign-on every two weeks. If you claim JSA you could eventually find yourself on the 'work for your benefit scheme', which as its name implies, involves working for £65.45 a week.
Unless you actually feel well enough and ready to work, I think it would make sense to attend the medical.
Best wishes
Derek