Is there a way to set my droid turbo up so that it connects to my home wifi automatically when I arrive home.
Moto Assist should help you with connection rules but: It should connect to your home wifi automatically without having to tell it to as long as wifi is turned on. As soon as you are in range it should connect. If you connect to more than one wifi in the same location, you can change the priority of the networks in Advanced WiFi.
But i don't want to leave WiFi on when I'm not home.
All those apps that turn wifi on for you when you get home are constantly scanning for wifi anyway. GPS also take into account your location to turn wifi on.