Sorry if this sounds flippant because it's not meant to.
but I don't think you can claim any sort of benefit and be exempt from forms.
reviews can be done at any time so it is sensible to expext some level of form filling.
However, a few people may be exempt from a medical for ESA, especially as the numbers being moved from IB to ESA are so high. I wouldn't like to guess at who those people would be though.
If it is with regards to Employment and Support Allowance, the only exemption I am aware of is for very severely injured Serviceman/women where results of the the medical board used under the Armed Forces Compensation Scheme can be treated as a passport to receiving Employment & Support Allowance without having to have a further medical.
However this is only with regards to the initial claim and the disability level is set quite high for this passporting to happen.
Reviews are carried out as per every other ESA claimant.