Complaint re errors and no reasonable adjustments

Hello I'm a newbie, recently registered.  I wanted to ask for anyones advice, knowledge or opinions 

I have several disabilities. I'll try my best not to be long winded the main ones are a chronic blood disorder, ADHD and I suffer with anxiety & panic attacks  

I was in receipt of ESA back in 2016 which was changed to UC.

I was signed off by my gp as unfit for work but was treated by the Jobcentre WC as a jobseeker. I was told there was no record of sick certs

I sent them by post to the JC, to the dwp and physically brought them to the JC where I saw them scanned 

I was intimidated into attending JC apts when most times I was too unwell too 

I had so many sanctions.  The worst was 91 days with zero money. 

I asked for a medical assessment was told wait for a letter and never got one

It took months to get a telephone interview and home visit 

I moved borough and the correct process was done and I had a cap for work as

The backdated payments from 2019 to 2021 which I think shows the mistake they made

I lodged a complaint in 2019

This month 4 years later ice responded.   Length of time past means they haven't got my records and can't respond to issues I raised

I have suffered mental and physical distress as well as financial and have evidence of this

I now have to contact my mp to go to the ombudsman stage

I've dealt with this on my own

Should I contact a solicitor.  A no win no fee or is there an organisation that can help