Sorry if this sounds flippant because it's not meant to.
but I don't think you can claim any sort of benefit and be exempt from forms.
reviews can be done at any time so it is sensible to expext some level of form filling.
However, a few people may be exempt from a medical for ESA, especially as the numbers being moved from IB to ESA are so high. I wouldn't like to guess at who those people would be though.
Best wishes,
Rachel