I have never been in receipt of DLA, but I am currently receiving PIP. My ASD support worker kindly helped me to fill in the application for PIP, and I was deemed eligible without having to attend an assessment. If it had not been for her, I strongly suspect that I would have undergone an assessment and subsequently failed it, which was what transpired two years ago.
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"Every day, once a day, give yourself a present. Don't plan it, don't wait for it, just let it happen. " - Special Agent Dale Cooper, Twin Peaks