Going to Tribunal PIP

Hi All, upon review this year the Mobility Component of planning and following journeys was removed. I asked for an MR and the DWP have stuck with their decision. I am going to Tribunal as I do not agree with their decision. I've reached out for help from a citizens advice welfare advisor, they have advised not to write a submission and to just provide a very brief explanation of why I don't agree with the decision, which is that if anything unexpected happens before leaving the house or during a journey I will have an autistic meltdown qnd will have to call mental health team for prompting and isupport, as I cannot cope with anything outside what I had expected to happen. Then, please refer to evidence enclosed (about 6 letters from psychologist, therapist, gp etc all answering each PIP question detailing my problems with planning and making journeys. They advised against writing anything more, as not necessary because I have so much evidence and we don't know what they've received from gp and that we will write a submission later once we get the document pack from dwp if needed. Advised no need to challenge the decision makers reasons for refusing it, or their inconsistencies in their report because the Tribunal judge isn't interested in that. Now, I also reached out to Social Prescriber at GP surgery who has experience of PIP appeals and he agreed with CAB. I had also reached out to a no win no fee charity who I spoke to this morning, they have disagreed and say I need to challenge all the dwp decision makers reasons for refusing and also asking things like how or why they think I am now better. I'm full of anxiety now as I don't know which route to take... could anybody advise? I know this may seem a bit OTT to keep searching for the right answer, but im very anxious and desperately want to get it right... would love your opinions please. Thank you!

Thank you for your reply. The assessor said I could make a journey because I was able to hold conversation with him and there was no cognitive dysfunction and the Decision Maker said I could plan and follow journeys because I can't be as bad as claimed because I still have a driving licence and haven't been in trouble with the police. I did respond to both of these in my MR challenge letter. Neither of them said why or how they think I've improved. I'm wondering if I could leave the form the same and just add see MR challenge letter for more details? Really reached a stuck stage now, anxiety stopping me from moving forward...

Thank you for your reply.
Gosh, I feel stuck now....
Wondering if is should include what I wrote for the MR which challenges their reasons. Maybe I could just add the MR document into the pack of evidence letters rather than update the Tribunal Appeal Form?

Thank you for your reply Gordon. Feeling like I need to add more to the Appeal form now, as the CAB advisor didn't challenge the assessor or decision maker at all. He just one short paragraph saying what he thinks I should have scored and why, then please refer to evidence, which I have a lot of. I guess he's referring the tribunal to my evidence from therapists as confirmation that I meet the criteria. He said no need to add anything else..
Feel reassured if they only pick the people who they are confident will win, sad for those borderline cases who won't get help though.