ESA income related. Inheritance ,,Benefits,ESA 3 forms

Hi I,m so confused with the. Benefits system.
I have been on ESA support group for years it’s income related and PIP
My 2 youngest children who where 14+ 15 at the time lost their father and inherited a property (Now only valued at £35,000) No Income from the property as it’s now unhabitable . He never left a Will because his other long lost son refused to take it in . Unbeknown to me. It’s very complicated. Sorry
It has taken 6 yrs to bring the estate to a close. We have had to pay £4000 to another adult child after all estate bills were paid .
My son became poorly and just couldn’t cope anymore and wanted out and so because there was only me to deal with everything and lending them £5000 They put his share in my name for now till our situation changed . So My daughter and myself are on the Deeds.
Having spoken with Council Tax people they told me I had to contact ESA . Online says
1. I will lose all my benefits,ESA Housing benefits,council tax .Prescriptions etc .
2 The other says I will lose around £75 a week from ESA .
The property is no longer habitable after 6 yrs of being left empty and in an other town. We have no financial help from his own adult child who was claiming his estate too.
My daughter and I have lived in Social Housing for 21 yrs in same house we are in now. If I lose my benefits then we could not pay the rent or any bills. My daughter has finished her apprenticeship and now employed and earning a proper wage. Even so we could not manage and I am frightened that it will make us homeless. I have fought for this because I wanted my children to have some security from their late father just as he wanted .
I rang ESA and he said take the deeds in to JobCentrePlus and fill in ESA 3 form. So I,m no more knowledgeable than I was before I spoke to him .
Any help would be much appreciated.
Thank you !

Thank you for your reply Gordon. It’s appreciated
F