Awaiting tribunal

I have been reading through some horrible cases on here. Sadly, our story is just the same.

Our learning disabled daughter has been in receipt of PIP (previously DLA) since childhood. 3 years ago, it was suddenly determined that she was no longer entitled. We went through a tribunal, that was no less than horrendous. She was however appropriately awarded PIP from that judgement.

Three years later we find ourselves in the same situation. Assessment failed, MR failed, now awaiting a date for tribunal.

Feel so let down by the system. Leading questions and damned right lies. I have masters education and find it difficult to navigate this system. How do those without support fair??