PIP Activity 9 Communicating face to face and Activity 1 mobilty

Can anyone simplify this for me

Andrew Department for Work and Pensions guidance in PIP Assessment Guide (“a person should only be considered able to follow an unfamiliar journey if they would be capable of using public transport”) - whether claimant who cannot access public transport owing to physical problems can qualify under descriptor 1d

I was awarded 4 points for Activity 9 needs social support with communication.

In regards to planning and following a journey 0 points.

I avoid all types of public transport due to the sensory issues of Autism whether that be on a familiar or unfamiliar route

But I drive familiar routes but I am accompanied on unfamiliar routes. Due to potential issues on that unfamiliar route. I also suffer anxiety and panic attacks.