PIP (UK disabilty benefit) questions.

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This is probably only for UK people.

Next year I may have to apply for PIP (Personal Independence Payments - a government benefit in the UK). I am on DLA now (middle rate care and low rate mobility). They said this is for "an indefinite period", so will I be required to apply for PIP next year?

My main question is: what experience do people have with autism and applying for PIP? Is there anywhere I can see the form online? I am scared that I will need an interview / medical, and last time I had to have one, my support worker came with me but I had a huge meltdown on the bus going there and nearly missed the appointment. The doctor interviewing me nearly wanted to do a physical examination on me but thankfully my support worker said that would be unfair and extremely unbearable for me.

I have heard some horror stories about PIP.

I am on ESA as well, but in the support group.

Does anyone know about it, for autism specifically (although I have mental health problems and multiple neurological disorders).