WRAG Woes, What to Do?

I feel I may have buried my head in the sand a bit here, I have been transferred from Income support to ESA, and without a medical I was placed in the WRAG group. 

After reading here, I became acutely aware that if I was to challenge the placement I could end up with no award of benefits, and with bills to pay, this was a major worry. A removal would have been extremely unlikely in my case, but...the thought that it was possible prevented me from submitting an appeal. Which I do believe is what they bank on. And now, unfortunately, I've gone over the 1 month time limit. 

I definitely meet one of the support group descriptors, if not more. But I gave a huge amount of evidence when completing my ESA50 and they decided, with all the evidence before them, that the WRAG group was the best for me. Anyway, today I've faced my first WRAG hurdle, the initial assessment letter which I categorically cannot attend. They've agreed to do the first one over the phone, but it seemed like a lot would be expected of me, things I know I can't do. 

There was mention of me having to go once every two weeks, Without going into too much detail, this would be my idea of hell. And the worry would set me back, and hinder any limited progress I've made. 

So..what, if anything, can I do now? I've left it too late to lodge an appeal, which in all honesty I'm not sure would change anything, even though it should, because they had more than enough info to put me in the support group the first time round, which they didn't do. 

Thanks for any advice given.

Thanks in advance for any advice given.

Whoops I thanked you all twice! Sorry.

Thanks Gordon.

I'll have a read through the links you've provided. I thought you could only submit a late appeal under exceptional circumstances. I should have appealed, I know this now. Hindsight hey..