Would you have a retired friend or relative who lives in Dublin, who could do this for you???... I suggest retired, or otherwise not working because of your need for flexibility, and the potential for waiting around to get the documents attended to...
I would regularly do something similar for a friend who ran a food business... I have the time, so I would often get on the train to drop samples to potential customers in Belfast, Cork, Galway, Roscommon, Kerry, etc... As he's my best pal, I never took payment, but he covered any costs that I had, and he also made generous donations to charity on my behalf... I used to really enjoy it, and he knew that he could totally rely on me...
I'm sure that others could enjoy it, too, and it's an efficient and cost effective way of doing the job... Certainly a whole lot cheaper than wasting a day for a member of your staff....