Are there any assistance programs for those with Medicare and not Medicaid?

Here is a good list to keep bookmarked https://www.medicare.gov/coverage/is-your-test-item-or-service-covered.html .... click on the item of interest to see if it is covered or any part of covered or not covered at all.

If someone cannot afford to pay for home assistance, see if they could, in fact, apply for Medicaid. Of course, each State is different with their own set of rules, regulations, and programs.