Permanent Relief for Seniors and Medicare, Medicaid, Human Services Extension Act of 2019 This bill modifies several health care taxes (e.g., repeals the medical device excise tax) and temporarily extends several Medicare, Medicaid, and public health programs (e.g., outreach and enrollment programs). The bill also renames the Temporary Assistance for Needy Families program as the Jobs and Opportunity with Benefits and Services program, reauthorizes the program through FY2024, and makes changes relating to work requirements for beneficiaries.