Domiciliary describes services, visits, or care that happen in someone’s home, not in a hospital, office, or care home. Domiciliary care means a nurse or helper comes to the house. A domiciliary visit is an official visit at home. Hospitals, social workers, and lawyers use this word. Ordinary people usually just say home care, or they come to the house. It is dry and institutional on purpose. Though actually, because it looks a little like domestic, students sometimes guess it means “about family.” It does not. It is about the place — the dwelling — not about family feeling. A stranger can give you domiciliary care. You can also meet it in older legal English as a noun for someone living in a place, but the meaning you will actually see is the home-visit one.

到宅的、居家的（居家照顧、到宅訪視）。不是「家庭的」。