I'm in the process of filling out my ESA benefit form out (UK here). Having left it up to the last minute I have two days left to hand in my form. I know there is help with filling out this form but because of my social anxiety disorder I felt unable to ask for it. Having finally faced up to it today I have spend most day trying to just find out how I go about filling the form so I won't be asked for a medical or turned down. Absolute nightmare which has me shaking all over and in streams of tears.

Not doing too well with it... Understatement of the year!
How do others go about getting help? I find the fear of interacting with others makes it difficult to explain /talk to even the doctor about it. That is, if I can get myself to make the appointment in the first place and then get myself to attend the appointment. I just can't imagine being the only one having problems asking for help which is so desperately needed.
Any advise or own experiences is appreciated as this ESA form is just one thing, major today, but only one out of many situations where asking for help is not happening. It feels a little like in my head I am screaming for help and if I'm talked to, I barely get a sentence together which formulates what I need.