Disability Law Service is a charity providing free Community Care Law advice - which I think might be hard to find. In some cases, they provide legal assistance.
https://dls.org.uk/free-advice/online-advice/community-care-law/
According to their website, they help in many other areas too.
I used the service when I experienced issues with my Care Assessment, such as Social Services trying to force my family into providing care.
I spoke to an experienced advisor who was very helpful in explaining my rights, entitlement and the wrong decisions Social Services had made.