PIP

I’ve recently been diagnosed high functioning ASD and I’m wondering about PIP but get really anxious on the phone. Is the first call simply about requesting a form annd giving my address and they won’t ask me any questions? I’m still living with parents and need encouragement to eat due to ARFID, my parents also assist with medications and I’m reliant on my doctor for reassurance. I can’t go on unknown journies alone and I struggle to manage money without lengthy discussions and sometimes emergency financial help from parents. I can dress, wash and communicate without aid but social situations I avoid whenever possible as they cause panic attacks. I have a full time job. Should I be asking about claiming PIP!? I want the money to use towards weekly private counselling sessions as the NHS wait is so long and also they only give in blocks and I need sessions long term. Thanks for any help in advance…