It's been a few years since I flew a Cherokee, but here are my thoughts:
1. Consider a grass runway to be a soft field. With stock tires, if the grass hasn't been mowed for a while, or if it's been wet it could very well be a soft field. So carry some power into the flare and ease it on. Then keep the nose up until it settles on it's own.
2. Your best take-off will probably be the modified soft field technique described in the Mountain Flying Bible for lower powered tricycle aircraft. Most of my flying experience is in a C-150 with cruise prop, and on grass or gravel it would get me airborn and above the trees again the fastest. Your Cherokee has a similar power loading, and even higher wing loading, so it should work well for you too. In short, start with full up elevator and 10 degrees flaps, when you feel the wings start to take some of the weight ease the nose down to about 9 degrees AoA. Get a protractor and a friend to hold the tail down so you can get a feel for the site picture at that angle. then hold that angle till it lifts off. level off in ground effect till you get to Vx.
My recollection is that the Cherokee comes down pretty steeply when you pull the power with full flaps, and that there was so little rudder authority that slips weren't really worth the effort.
practicing flying the length of a long runway in slow flight with full flaps is excellent advice. When you get to the point that you can't tell for sure if the wheels are touching or not, you've got it. Take note of the power setting required so you can advance the throttle to that point, or just a hair below, as you flare for your soft field landing.
And I have to laugh at the guys who said they couldn't hear your stall horn. I've only been in two different Cherokees, but both had a big honking red light for the stall warning, but no horn.
Have fun!
Phil