Are there caregivers that can come into my home to be with my mom when we go out?

Yes there are agencies that do this very thing. The good thing about a reputable agency is that they do the screening and hiring for your...they also charge a little more per hour.
You can also hire privately, but you need to do the background checks yourself. Call your office on aging and ask if they have a list of available caregivers.
I think the best way to find a caregiver is by word of mouth. Do you have friends who care for parents or work in the health care industry? Ask for referrals.
Make your home secure by locking up valuables, perscriptions, papers, etc.
good luck