ESA is an indefinite award with scheduled reassessment based on the Prognosis Date completed by the assessor in their report, so your existing ESA award continues in payment until a new Decision is made.
The answer to your question is yes it is mandatory to complete the questionnaire, if you kept a copy of your previous questionnaire then use it as a template making any adjustments to your health conditions and prescriptions.
Gary
Nothing on this board constitutes legal advice - always consult a professional about specific problems