Don't have any fears about a Tribunal in my experience they have proved far more reasonable and understanding than the DWP in reviewing your difficulties/case regarding ESA. Just stick to your guns and keep copies of everything in your dealings with the DWP ready to prepare a submission if it should go that far.
Did you visit CAB/SHELTER or anyone else with regard to all these problems you have, you really could do with the face to face advice and support of a trained welfare worker.