In the theme config.php file you can remove the Home menu item from the primary navigation using:

$THEME->removedprimarynavitems = ['home'];

On desktop (large screens) you can still easily navigate to the home page by clicking on the Site logo/name in the nav bar, which is links to the site home.

However on smaller screens (mobile devices), the site logo/name isn't shown in the nav bar. It is placed in the left drawer. But it is not linked to the site home, so there is no easy way for the user to go to the homepage on small devices.