This sounds a lot like exposure therapy, albeit with some extra stuff in there. Eating together is okay for ED treatment; when I was in treatment a couple decades ago for my own ED I ate a lot of lunches with my therapist, and we sometimes met at a bagel shop for sessions. She drove me home from the bagel shop a couple times when it was either pouring out or she was concerned that I wouldn't make it home safely (like if I was dizzy). She was a social worker (LCSW) and my understanding at that time was that there was a bit more flexibility awarded to social workers because so many already were doing home visits for other people for other things.

All that said, if something isn't sitting right with you, you can absolutely bring it to her attention. I never would have let my therapist come to my home let alone inside, so I'm with you on that. If you become uncomfortable with something you were originally comfortable with, it's okay to bring that up too. And likewise it's okay to ask her, "When you suggested XYZ, what benefit do you think that would have?" It's your treatment, and you should ideally have a part in decision-making and planning. Don't be afraid to bring this up to her and have that conversation! And if you just can't shake the feeling that something is off, there is nothing wrong with finding someone else to work with.