PIP may a be a benefit that is not means tested and can be claimed if working. It is based on your daily living and mobility needs. Many other benefits are means tested.
I had a drop foot relapse, I applied for a bus pass and blue badge, both were approved no problem, I only ever use the blue badge if i feel i am going to struggle which at the moment is very rare Luckily, but my local town car park has issued me with a free barrier pass as well for shopping.