Hi Janeymary,
Was in a similar type of situation. I have always listed out my journeys dates/mileage and submitted them on a seperate sheet to the Med 1.
Although my son is now an adult and able to attend appointments himself revenue have always accepted my claim no questions asked. I would assume they could see like yourself that we were getting incapacitated tax credit. Fill out Med 1 and write please find attached sheet listing out visits etc and I would think all will be ok.
Good luck. Derek