For most Assistance Requests you can only create the form from a lead.  However certain brands will allow the following types of Assistance Request to be created without first creating a lead;

To create an Assistance Request Form without first creating a lead, you can navigate to the 'Assistance Requests' screen, by clicking on the + icon in the grey action menu.

When you select the 'Reason For Claim' you will only be able to select from 'Demonstrator', 'Pre-registration' and 'Service Loan' options.

As the Assistance Request Form has not been created from a Lead you will not have a listing selected.  This means there is an extra step of selecting a Listing to apply for Assistance on.  Clicking on the 'SELECT' button in the 'Listing' section will allow you to choose a listing to add to your Assistance Request Form.