OK, with my professional hat on (as a chartered civil engineer who works on structures, so I'm CEng MICE and specialise in structures, but I'm not a chartered member of the IStructE), I observe:
Engineering is a profession in the technical sense, so is self-regulating as to who 'makes the grade'...
but, Structural Engineer (or indeed Engineer) is not a protected title, so anyone can call themselves a structural engineer, they don't need to have any particular qualification. As such a requirement that it be inspected by a structural engineer is a rather toothless requirement.
The relevant qualification is the 'CEng' postnomials, but that's just chartered engineer (registered with the Engineering Council), so could be a different sort of engineer entirely (Chemical, Aeronautical, etc).
If you're going to appoint an engineer you probably should appoint a qualified one.
Yes, pretty much anyone being careful shoudl be capable of spotting the defects that an expert engineer would spot. The difference would relate to the interpretation of the significance of a defect. For example - a ripple in a flange tip. An expert should be able to decide if a rippled flange is a big deal or not. That would depend on quite a lot of things more than just how big the member is and how big the ripple is.
I wouldn't use NDT on a fire escape as described. The only time I've used NDT on anything similar was where it had circular members and we didn't know how thick the walls of the tubes were, so used ultrasound to measure. (Answer: they weren't tubes, they were solid round!). Otherwise when inspecting you use NDT when there's a known problem and you're trying to quantify it (e.g. you know you've got a fatigue problem, now you're hunting for actual fatigue cracks). (For this sort of structure - bit different if you're inspecting e.g. the cables on the Severn Bridge, then you'd do a bit more than give it a quick shufty).
For a structure as described, I would expect an engineer will just do a visual and hand-tools measurement inspection. An inspection is not an assessment. If you have inspection records and an assessment on record and the new inspection does not identify any new defects, I would not expect to re-calculate anything every five years.
I wouldn't use any BD or their successors. This whole suite of docs is by the Highways Agency for use on highway and related structures. There are similar highway structures (metallic footbridge, for example), but you just wouldn't use these docs for that. (Unless you were desperate and a HA doc addressed some situation that no other guide addresses - this is true with respect to some structural forms, notably jack arches on metallic beams).
5 years is a good general rule-of-thumb for building inspections. It comes up a lot (lots of church denominations mandate a quinquennial inspection of premises, for example).
I wouldn't do this job - my firm generally only works on larger projects or more specialist things.
I don't believe it's a legal requirement. I think it is clearly just a 'recommendation', but I happen to think it's a reasonable one, and something that will bite you if it's not done and 'something' happens. If you got a local Structural Engineer to do it, it shouldn't be too expensive. It's not much more than 'giving it the once over' with an expert eye and writing a report saying so, if the condition is as described and the design is either reasonably new and OK pretty much by inspection, or you have an assessment of adequacy on record.