I followed your advice recently, Preparing yourself for the hearing, P.26 of Appeals guide. HMCTS website states that hearings are open to the public normally. I turned up, a security guard at the door greeted me then made a phone call to the Clerk, and I explained why I was there - would be attending in a couple of months with the person I care for. Clerk apologetically asked me to return at a specific later time. I did, the details I'd left were checked, then I was admitted after showing identification, signing in etc. I sat through one ESA tribunal. I can say more if anyone is interested. Certainly a worthwhile experience.