If u have no where to live (homeless) could u still claim ESA????

Yes, you will need to tell DWP that you're homeless and have no fixed abode. They will then give an address for your post to go to, usually c/o the job centre.

One thing to look at first though is if your area is a full Universal Credit area then you won't be able to claim ESA, it will have to be universal credit. You can check what's in your are by putting a postcode in here. https://ucpostcode.entitledto.co.uk/ucdate
Whichever is in your area you will need a regular fit/sick note from your GP to be able to claim both.

Apologies for the late reply @kaur - @poppy123456 is exactly right though.

Hope you get sorted!