As someone who relies on ESA, PIP, carers allowance etc, it doesn't give my opinion any authority over anyone elses. The way things are just aren't fit for purpose. That much has been proven. Other than that, I think the nail has been hit squarely on the head. You're not going to get much of an fair argument on this Tory (biased) forum. Best to just not bother, go elsewhere.
But if you do need advice on these certain matters, then I hope I and others will certainly help.