Yes, there is marginal difference. The preposition ‘at’ indicates that the noun ‘home’ that follows it, establishes a point in relation to which another object ‘I’ is positioned.
So: “I am at home” always means that I am positioned or staying at home, and this is normally used.
Where as the term “I am home” can be used to mean; I am safe after some incident. Look at the following sentences: My friend had a surgery for removal of a tumor. I am happy to hear that he is home and doing well.
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