Hi, I worked at PIP a few years ago. The descriptors are available to view online or a local library (they used to be when I was there).
pip_descriptors.pdf https://share.google/GlTkkkIByYtIzr4MQ
I’m happy to help with any specific questions as there are many things people put they have no issue with completing when they use an aid (eg using a radiator to support with getting onto and up from the toilet).
Getting PIP isn’t impossible but it can rely on what your GP/consultant/oncologist writes too.