I have been on ESA (Support Group) and am due to be called for a 'medical' which I may not 'pass' as my condition has improved a little. I'm not sure if I want to put myself through this humiliation so I was wondering if I should ask to come off the ESA and go onto JSA and look for a part-time job. Or should I go to the 'medical' and see if they put me on the pathways to work' or whatever it's called?
You have nothing to lose by going to a medical to see if you can stay on ESA.
You may regard it as humiliating but it will not be any worse than having to sign-on every two weeks. If you claim JSA you could eventually find yourself on the 'work for your benefit scheme', which as its name implies, involves working for £65.45 a week.
Unless you actually feel well enough and ready to work, I think it would make sense to attend the medical.