When a PIP f2f is stopped early

Just to ask, if there any situations whereby the reason for stopping a PIP f2f early can legally be changed? In my case, it was stopped early due to the reason given to me verbally by the Assessor that it was too stressful for me and would continue as a paper-based Assessment, I wouldn't have another f2f, and I would hear the decision in a few weeks.
However, 2 months went by without hearing further, & without any reference to the f2f visit I had, I received a repeat letter for a second f2f! I first thought it must have been lost from the system, but calling the helpline showed the visit recorded, but couldn't get a definite explanation for the second f2f, though I understand no formal request for a paper-based review was made at any stage. It was wondered whether it had something to do with my 'friend' not being present, but with less than 24 hours' notice, that was not possible, but I had said at the time it was OK at my home, which was agreed, whereupon a home visit was arranged, and proceeded with.
So I don't know what I am left to think. With thanks for any comment, as I wonder if there has either been a terrible mistake or misunderstanding.