Hi Retromex !!! welcome to the forum !!! Hope we can all be of help to you.
I could not come up with an exact translation of the terms you required. However, a general translation for “In home assistance” could be “Servicios de Cuidados a Domicilio”. However is you are referring to a more specific assistance, you could add the kind of service being rendered at home for example (Nurse Assistance = Servicios de Enfermería a Domicilio) .
Same thing applies to the term “Respite Care”: in general, you could define it as “Servicios de Apoyo” or “Servicios de Cuidados Especiales” but again it would help to specify the type of care being provided (for instance “Servicios de Apoyo Para el cuidado de Ancianos”, in the case of Elderly care services). I hope you find this suggestions helpful
Best regards
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