I also can't say that I have heard of anyone on ESA receiving any meaningful help (apart from the financial assistance, of course). A friend of mine, who'd worked for quite a few years, wanted advice on retraining for when he's well enough to work again. He can't physically continue with his old profession. Unfortunately, they didn't have any helpful suggestions for him. Most they came up with were classes in English, Maths and IT for beginners at the Community College, but he doesn't need any help with those. They offered training in CV writing, but he's not ready for work yet, or confidence-building classes that were far away and he's not lacking in confidence! So yeah, that seemed to be the limit.
It's good that those options are available, but on the whole, they appear to be tailored towards those without much knowledge or education - helpful for those who need that little boost, but not for people who already know the basics, or more. It's not geared up for individual circumstances and career paths, either.
It is worthwhile asking about voluntary work, though. I'm pretty certain that it is permitted, but it's better to be safe than sorry!
Good luck, OP. You have a very positive attitude, and I hope you can get back to work soon
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