I can understand your fear about losing benefits and becoming homeless as I struggle with that too. I've been on ESA since 2011 and am terrified about what's going to happen in the future. Do you have a supportive Dr? My last pdoc was very supportive and based on his report I didn't have to go through the ordeal of attending a face-to-face assessment when my review was due. Unfortunately I had to move back in with my parents and so change pdocs and my new ones are very unsupportive, which has intensified my fears of being kicked off benefits... Anyway having a Dr who's on your side is really important.
All the best
*Willow*