I was a volunteer Home visiting Advisor with Age Concern(as was) for 10 years. I filled in hundreds of these forms.
I always found filling them in was like doing a formal dance, a sort of benefits dressage. You needed to use the correct words and the correct terminology when answering questions and provide the information in the approved fashion.
If you get turned down, appeal. The procedure is not difficult and the appeal itself is not intimidating, you meet and talk to a doctor, lawyer and disability professional round a table in a room.
If you want any help from the form to an appeal send me a pm and I will willing help.