ESA IR Support Group without ESA50?

So, things are changing massively for me. My adult son with ASD and Dyspraxia no longer wishes to be 'part of the system'. Thats fine as I'm too ill to even supervise him anymore so we are letting his indef high rate for both DLA lapse and my appointeeship stop. Which means my Carers Allowance stops. Which means my Income Support stops. Which means I have an 8 week run on in which to move over to ESA IR. I've just got the printed statement of the telephonr claim and if its a sign of things to come, where did the rubbish written down come from? Certainly not me!

So I called ESA and the lady was very apologetic and said when people are ill these forms cause more harm than good but not to worry as it will sort itself out with the WCA... can't wait...
She continued to apologise and said we can't do anything about the system or the form. I mentioned staff suggestion box. She said believe me we've tried.

I asked if I could send more medical documentation back with the signed statement beyond just a fit note thingy to which she said I could.

So, to wrap up, having not long ago moved from indef high DLA both to ongoing 10 year Enhanced PIP both, has it ever been heard of to get into support group without an ESA50 because I cant deal with another form like that. Im too ill, housebound, and my care and support package barely covers my personal care needs each day, let alone any actual real world help

I see. Thank you