Hi Victoria,
There is a sample of the PIP2 form here
www.gov.uk/government/uploads/system/upl...affects-you-form.pdf When the time comes you will have to complete and submit the exact form that you are sent as this will be marked with a barcode unique to you. However, at least you can have a look and see what to expect.
It would be worth reading the PIP guide alongside the form
PIP help for claimants I'm afraid I have no way of knowing when your ESA reassessment will come, or when you might receive the letter saying you must apply for PIP.
You can find out when to expect ESA reassessment by phoning DWP and asking for the 'prognosis' but claimants in receipt of indefinite DLA are being selected for PIP at random.