Been Awarded PIP, Is It worth applying for ESA as will mean Getting Universal Credit?

I am currently a carer for two autistic sons, one of whom is an adult, one is 12 years old.  I get carers allowance, income support as a carer, child tax credit with a disability premium for my 12 year old.  I have recently been awarded Enhanced care and Enhanced Mobility PIP at Tribunal (until 2022 although I know reassessment can be a year earlier).  I had very little help going through the PIP claim process but somehow managed to explain things completely ignored at assessment (I know this is usual).  But I did go very foggy after half an hour at the tribunal.  I think I was very lucky with the judges.

So, been told it might be a good idea to claim for ESA.  I wouldn't look forward to it, but having gone through the PIP claim process, I guess I could manage the ESA process.  But my area, it would mean an automatic transfer to universal credit which sounds completely stressful as their systems don't work very well.  It sounds like something I would have problems using (not good at new things, what is obvious to others isn't to me). Also is it worth it given that Universal Credit doesn't include SDP etc?  

BUT as I am in receipt of Income support, I could be going over to Universal Credit soon anyway.  I have looked at the timetable and it doesn't mention my circumstances, only timetables (which now seem to have been thrown out the window anyway) for people on ESA.

I just don't know what is the best thing to do.  Apply for ESA, go onto Universal Credit now, or stay on Income support as a carer knowing I will go onto Universal Credit anyway at some point.