Nervousness around claiming for PIP as an adult with ADHD

I’ve been diagnosed with Asperger’s recently at age 65 yrs and struggled my life. I got awarded low on both but didn’t get across my difficulties very well as I struggle speaking to people. I wasn’t awarded any points for communication but my report from clinician pointed out that I very much struggle and need someone to help support me. Same was with with forms clinician said I needed help etc.. said my asd scored very high but over years I learnt strategies and learnt to mask which mainly was avoidance. Also can’t walk down to shops because I can’t pass people without someone with me. I have just one friend who supports me. Not sure they looked at report as that was long. But only missed out on a few points in both areas. What can I do, I have asked for a MR and enclosed and highlighted documents. Do they go on that type of medical evidence. It was my fault I didn’t point things out but I cannot communicate well on phone or in person. I don’t go to Docs very often as try to self medicate which is why it all takes so long. I for example also have a skin condition which was diagnosed firstly as pmle and next appt was treatment, my friend came in with me but instead it was a second consultation who said I had solar urticaria but when I got the letter they said it was heat hives as I apparently get them in any heat which I don’t but I don’t get things across. That’s another reason why I can’t go out as I get painful blisters and get too hot because I have to wear uv clothes and creams. Just hard to get people to understand. Any help please ?