3.5 hour PIP assessment!

I had a 3.5 hour PIP phone assessment today. It was hell. Is this legal? What do I do as I’m afraid of being penalised because they’ll say if i can be on the phone for that long i must not be sick. But I had no choice. She told me I had the choice to end the assessment which she knew was not true, not an option. She had me trapped in psychological torture.

She had called an hour late. I was in psychological and physical distress shortly after the 1 hour mark and by 2 hours I was mince meat. I kept trying to highlight it but she told me it was my fault. And again that i could stop the assessment. She did not ask the questions in any logical order & kept asking the same strange questions over and over and over again like some kind of masochistic deliberate war torture. It felt like abuse. I was being gaslit, things i said were deflected & she defensively blamed me for how long it took and complained that she was having to sit on her chair for 3 hours. I could hear her typing one letter at a time. I was asked to repeat things over and over seconds apart. I had been so well prepared with the B&W guides with my notes in front of me but she made no sense to the point that nothing i had prepared in front of me was of any use. I kept asking which part of the assessment we were on but she would say that was for her to know. Topics were tangled up & spiralling round and back again. I was hysterical by the end and collapsed. I feel like I’ve been put through war torture. Is this legal? What can i do?