Is the points scoring system the same for ESA and PIP, and can the two assessment outcomes be compared, comparatively? As they have very similar areas of criteria, eg, going out (for ESA)and mobility for making a journey (for PIP) etc.
Have a look at the document UC/ESA and PIP overlap - which will explain where there are similarities between the two. benefitsandwork.co.uk/guides-for-claimants/pip. They are not identical and overall they are not judging the same thing.
BIS
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