So they told me today over the phone,it's good news,I have been awarded PIP at standard rates for both mobility and care,until 2022,which means another assessment June 2021.
I am to expect a large amount in back payments into my bank account on Monday!

So the letter writing sending in complaints and pointing out the errors in the assessment reports paid off.I was so worried and am so relieved now.Thanks to all of you here who have supported me.It was a learning curve but I know what to do now and who to turn to next time and I will be a lot less worried next time knowing there is help and the possibility of appeal.