I’m glad your previous key worker was understanding of your situation and reassured you that it’s ok not to push yourself to do stuff. I doubt the other person was judging you but even if she was it doesn’t make her right- I assume she doesn’t know you as well as your previous key worker and also isn’t she not very nice? Both those mean that her opinion doesn’t matter!
Are there bits from here or your RV that you could print to show your support worker? For what it’s worth, I think you’re pretty good at communicating your feelings and situations on here.
I hope it goes well with your support worker.