Personal indepenent payment - has anyone reapplied for PIP and been accepted without a tribunal?

I got rejected 2 times, the first time up to tribunal in 2022 and the second after assessment in March this year but i didn't take this to MR and, on advice, made a 3rd claim which is ongoing.

My first assessment report was full of lies and statements I didn't make and the judge said she believed that over me.

The second assessment report didn't have made up stuff but said that because I have a driving license I can carry out all activities, this is known as the "driving license trap". The driving license was used on all descriptors. Because i mentioned mentioned mental health conditions which i hadn't put in the form the assessor didn't take them into account even though we spent a good half hour on them. I was advised by some people on a forum and a benefits advisor to leave the appeal as it's likely to fail and make a new claim with said mental health conditions in the form so there's no excuse to discount them and they're likely to get some points.

Both reports were full of assumptions on what i can do, some stretching it a bit far such as the fact that i'm accompanied by my partner (usually, or someone else) at hospitals appointments means i can mix with people as i sit in a waiting room. I'd say that's not 'mixing' under the meaning of the descriptors.

You have a great deal of points, I'm kind of in the same position, esa support groupand severely disabled with an ongoing enhanced award. I am wondering if we will get the 'light touch' reassessment or back to square one . Been researching and to get renewed PIP we have to still have the 4 points for every section. I had 18 points daily living and 12 points mobility. Mobility isn't being reviewed, but the daily living is.... 🤷‍♀️