The particular clinical skills used will vary widely according to setting. In our home hospice setting I have never seen a peripheral IV. If we do have IV meds, they are generally infused through a port or a picc line. We choose the least invasive, simplest route which will be effective. The simpler the regimen, the easier it is for patient/family to learn and manage.
What we "do" on an average visit is assess the patient, contact the physician for orders or activate standing orders to control symptoms, educate the family regarding what to expect, how to administer meds, side effects, etc, techniques for personal care, assess family's current ability to cope, contact other members of the team (such as spiritual counselors or social workers) for support needed. Dressing changes, lab draws if needed, ordering meds, and I'm sure there are other things that don't come to mind immediately. You have a lot of autonomy.
If you are intrigued with the notion of being able to focus on quality of life for patient's and their families, look into it!