Not sure what to say for assement for extra support

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I've had problems all my life. I've been in bad situations, such as even selling my body out of desperation to not be homeless. Wasn't diagnosed with Asperger's until my 30s, and then told if I want support to apply for PIP, but when I applied for PIP I was told I didn't have enough points for reasons such as looking clean and tidy.
Now I have to go to an appeal in a court on my own in front of a solicitor and doctor, and as Asperger's has problems with communication, I don't know how to explain why I think I need help.
Is there anybody on here who might have appealed PIP and give me some help please?
How would you explain the problems with Asperger's and why you need extra support?

Maybe you can find some relevant info here. It's not Aspie specific but might be helpful.

https://www.rethink.org/living-with-men ... al-illness