Are there any Adult Day programs, in your area? I know there are some in my area. I'm not entirely familiar with all the specifics of their programs, but perhaps that's a path you could utilize as a resource while you are at work.
As far as becoming more effective in your own skills as a caregiver of an adult child, perhaps reach out to local support groups? What about your daughter's mom, what direction is she leaning towards as far as seeing your daughter develop life skills?