OK, so you received a postal PCN because you drove away before the PCN could be served. "Driveaways" were dealt with in the Traffic Management Act 2004, with the result you have experienced.
As you have a postal PCN, there is no Notice to Owner stage. I suggest you submit reps on the basis I described earlier, namely you were escorting a disabled person to the bank, and found the PCN when you returned. State that "boarding/alighting passengers" is an exemption to the yellow lines. Also state that where a passenger needs assistance to his destination, the driver may assist that person on the basis of "assisted boarding/alighting", and you therefore expect the PCN to be cancelled.