Hi Peter
Unless you receive a SDP then you would not be able to apply for ESA as ESA is a legacy benefit.
The rolling out of the full digital service of Universal Credit to all areas of the country was completed on 12 December 2018 for new claims or for people having to make a new claim due to a change of circumstance.
Most new claimants would have to apply for NS ESA depending on their NI contributions or apply for UC.
New Style ESA is a Contribution Based benefit and is not means tested with the exception of pension income which can reduce the amount that you receive.
The Income Related benefit that goes with NS ESA is Universal Credit.
Gary
Nothing on this board constitutes legal advice - always consult a professional about specific problems 
