PIP Review Waiting for over 6 months

Hi everyone. I returned my PIP review form at the beginning of March. I received a text message from DfCPIP at the beginning of April saying "Thanks for sending us your 'How your disability affects you' form. We may need you to attend a consultation with a health professional before we make our decision. We'll contact you again if we do. Please call us if any of the details you gave us have changed."

It is now the middle of September and I haven't heard anything since? Do I just keep waiting or should I contact them? I am so terrified and getting more and more anxious as the wait lengthens. My Mobility needs changed in January and I desperately need to change my Motability car to something more suitable as I am struggling to get in and out of it so I feel completely stuck as I can't do anything without a decision from PIP. My original award ended on the 13th April 2021 but I got a 6 month extension on it due to Covid. I'm also worried about what will happen when I reach the extended award date of the 13th October if I still don't have my review through.