Thanks for the recommendations everyone!
It's amazing what services are out there once you start looking.
There's an adult community center right in my mom's town that offers all sorts of services such as van transportation, hot lunches (for a nominal suggested donation), trips to the grocery store, classes, movie nights, transportation to doctor's appointments, etc.
I thought the only way you could get those kinds of services was to move to an assisted-living facility, but it's not true.