Whilst the 17 year old is still in the assessment phase of ESA claiming carers allowance won't help, (carers allowance would actually be paid) though assuming her current single persons claim is only an (ir)ESA claim i would suggest revisiting it to convert it to a claim for both versions of the benefit so that when the 17 year old enters the main phase a claim for carers allowance can be made.
The big issue must be about whether, if they claimed IS rather than claim ESA, they would be assessed as entitled to the higher couple rate of £102.75 or the lower couple rate of £65.45. From what you say i would expect they would qualify for the higher couple rate of ESA.
If they qualified for the higher couple rate of IS then they are probably better off on IS, if not they are better off on ESA.
Hope the above helps a little.
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