ESA new claim for work related ESA benefit

Dear community,
first off - thank you to everybody who makes this site what it is. It has been invaluable to me as a disabled person and gave me the confidence and endurance to make a successful PIP claim after many years of suffering in silence.
I am about to make a claim for what is hopefully work related ESA.
Long story short.
I am in my mid 50s and along with long-term disabling conditions I was diagnosed some years ago with a dementia related condition that has caused systemic chronic atrophy and now psychological/cognitive issues.
I have been given an indefinite sick-note/medical cert by my GP and have corroborating evidence from two other medical specialists. The GP letter covers the dementia related diagnosis along with the damage it has done to my heart and chronic neurological damage to my legs and feet, COPD, hip dysplasia, arthritis of spine/hips/knees/shoulders and chronic bladder and bowel incontinence. Specialist report also includes statement that work leaves me highly vulnerable and is a danger to myself and others.
I have checked the DWP online and see there is an online application for ESA.
I am reaching out in the hope of some general advice - my sick pay from work will end when my employment is terminated in October and I have full NI contributions.
IS there anything I really need to know or should I go ahead with the online application ASAP?
I am asking as I struggle tremendously with forms/applications and generally using a PC and any change to routine or stressors can make me very unwell.
My experience of the PIP application and interview has made me extremely nervous about making a claim as the whole interview was aggressive and demeaning lasting over two hours and making me very unwell.
Thank you in advance for any advice offered it is warmly received.
\PZ

My experience:
Filling in the online form was quite straight-forward, having the initial call with the work coach was fine, very sympathetic to neurological conditions and got 'no work related requirements'. I felt the work coach had a better attitude to someone who had paid in and then fallen ill. So getting the payment started was easier than PIP.
Administratively they were very slow, the WCA form turned up 3 months after applying, the WCA interview 11 months later, just in time for the 365 days contribution based benefit to run out, still waiting for the support group or not decision. The WCA interview was not aggressive. Because DWP are so backed up you could get many months payments before facing the interview.

Hi David,
I will have a read of the guide you have linked thank you - my partner is my carer and I will ask them to read it with me. I live in my partners private house with them and they have legal power of attorney just in case it becomes a necessity. I'm not sure what advisors we have locally are you suggesting citizens advice or similar? I subscribe to this site and used the PIP guide here - it was very useful thank you.
I am getting concerned regarding income so I do need to make a claim soon - as a first step should I begin a claim by using the DWP/government website now?
Thank you for your help.
\W