The appearance of bailiffs at your premises appointed by HMRC in pursuit of payment of a unpaid arrears, normally following a county court or high court judgement is certainly a cause of further stress and disruption for your business especially if employees are present. Bailiffs will generally try to seize assets to the value of the debt owed.
A further complication is that assets seized and sold at government auctions on behalf of HMRC do not normally realise the true value of the asset.

Bailiffs acting on behalf of the county court or high court cannot force entry without a court order. They can make peaceful entry into your premises, however, including through an open window

If the debt is a company debt, they cannot seize private assets such as private vehicles , however in such circumstances as a company director you would need to be able to prove personal ownership. Nor would they be able to take assets which the company does not own; examples would be computers and laptops under a lease agreement or stock which has not been paid for and for  which your supplier has retention of title.
It is good practice to keep a register of assets-this could be a simple excel spreadsheet listing all of the company's assets-vehicles, office equipment etc, furniture, tools-with details of year of purchase, ownership or lease agreement etc.