Mobility reconsideration, please help

Hello, sorry if my message is long I am Autistic I struggle with summarising but I will try my very best.

Before I get into the mobility reconsideration, I should explain:
I started to have problems with incontinence a few years ago, I thought it was anxiety related but I did explain very well to DWP the problems it was causing me and it was ignored completely. In April 2022 I finally got a diagnosis as to why that is and no it's not anxiety related so I asked for a form to give new information to DWP. I mentioned that but also told them that now because of all the problems I had and my panic attacks increasing I went from not being able to do any journey at all to do journeys (because I did need to go to do tests and see doctors, because I was afraid I was dying) to I can do journeys yes but not alone. I cannot plan a journey myself whether is familiar or unfamiliar.

I received my letter today saying that now they acknowledge I do have incontinency problems which is great, only 2 years later but still it's great that they do but they changed my mobility from 'You cannot undertake any journey because it would cause overwhelming psychological distress' to 'You need another person, assistance dog or aid to follow a route of an unfamiliar journey'. I cannot do any familiar or unfamiliar journeys by myself. I just can't. I panic and I get lost because I panic and that is stupid and embarassing but that's what happens and I cannot cross the road by myself and that has been the case for almost 30 years due to a traumatic incident when I was younger.

Sorry for the super long message again Can anyone tell me their experiences with something similar and how can I make them understand this with the mandatory reconsideration please? I would really appreciate that because this is causing me a lot of anxiety now.

Thank you so much for reading this.