Thanks to the information on this site I was encouraged to apply for PIP. I was on low rate care DLA for many years (had to go to appeal for that, so was avoiding PIP because of the stress and humiliation) but after my health worsened with a degenerative neurological condition and approaching retirement age, I finally decided to apply. ATOS assessment was professional and courteous on the surface but the report was full of inaccuracies and misunderstandings. I was awarded middle rate care but only 4 points for mobility. So after help from CAB and the advice on this site, I went for MR and was given 22 points for mobility as well.
It wouldn’t have been possible without all your help - thank you!