PIP HOMEVISIT - NFA

Hello there,
I am a 24yr old suffering from ocd, anxiety (with a mixture of other mental problems) and severe pain from scoliosis and reynauds syndrome, coupled with pcos.
3 years ago I lost my job as a tattoo artist due to my spinal problems. I was previously subletting and consequently not on any contract. After losing my job I also lost my home, although having been here for years the council refuse to help with housing as they say they cannot verify that I have been in the area for longer than 3 years. But that's another story...
I am now and have been for the past 3 years on and off, staying with a friend of mine who has a young daughter, she does not stay with him as he has his own problems but she does visit often.
I have been under threat of having to find alternative accommodation for the past 6 months as mu friend would like his space back for more time with his daughter etc. But as he is my friend I know he feels reluctantly to kick me out as such. So I am currently here, pretty much constantly, working remotely from home doing market research when I can.

After a lot of hassle with my pip application appointments etc (I'll spare the details) they have finally ended with offering me a home visit, which in many ways I'm very happy about as I really have struggled in many different ways due to pain and anxiety and stress to even fathom the idea of managing to attend a medical appointment far away as they'd offered me before. However, I am in a rather big dilemma, my friend with whom I am staying with, does not want me to have the assessment at his house, as it'll be during the only weeks he has his daughter and finds it difficult to get out of home himself.

I am completely stuck on what to do. Finally after all this messing around it seems there is a solution, however now apparently not. I cannot go against my friends wishes, but if I refuse this home appointment, how else am I.supposed to move forward with my claim. I am in desperate need, I cannot currently keep up with any appointments physio, psychology sessions because of the mess I am in.
Everything is so.confusing and I have been dealing with these benefit.beaurocracies non stop for the past 2 years despite all I did.to avoid going down this route.

Apologies for the extensive amount of words. It takes me.very long to write sometimes and often I do ramble. I just have no-one else to turn to, so would appreciate greatly anyone's help.

I cannot currently work either due to my problems and am falling further into.debt with my friends. I fear soon I will be homeless and even worse off.

Thanks I'm advance.
Tx