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qRules has a delete command which can easily delete a row in a repeating table without writing any code. For more info: http://www.qdabra.com/en/products/qRules_overview.aspx
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It sounds like this may all be possible in a single template, in which case it makes "passing" variables quite easy. You can just create some temp variables in your data source that you can key off of to query your right details section based on what was selected on the left.
If these are indeed separate templates, web parts in ...
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You can create a database form which uses an Access DB as the primary data source, but I don't think that's what you want. Integration with Access is limited out of the box with InfoPath. If you can store that data in either SQL or a SharePoint list then doing what you want will be miles easier.
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Sounds like you need something like cascading dropdowns to solve your first problem. Here is a video that may help: http://www.youtube.com/watch?v=SH7xUEcQwwg&list=UUevFL_5LD2E2t9SxCle35iw&index=12&feature=plcp
The second part can be solved by opening up the xsn and adding a max attribute to the repeating section. This ...
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You'll first need a receive data connection from the list. Use this to populate the dropdown with the names and IDs of each company on the SP list. Then you want a second receive data connection to the same list. Create a rule on the dropdown that will set the ID value in the query fields of the second data connection. ...
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You can use the qRules SubmitToSharePointList command to do this. You won't have to write any custom code using this method.
Link for more info on qRules: http://www.qdabra.com/en/products/qRules_overview.aspx
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Perhaps you can create a repeating section control. You can even give the section some more structure by breaking up the fields into more meaningful blocks.
If you are browser enabling the form, you should be careful as to not have too many controls on your form as that will slow down the form in the browser. Consider having one form ...
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InfoPath has a hard dependency on IE, so it cannot be removed. Is it possible to upgrade the machines browser to IE7 or 8?
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qRules provides functions to let you get these values without writing any code. More info: http://www.qdabra.com/en/products/qRules_overview.aspx
Otherwise, you'll need to write custom code to get these values.
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Here is an article that discussed best practices for InfoPath form performance. Its for 2007 but will apply to 2010 as well: http://msdn.microsoft.com/en-us/library/bb380251(v=office.12).aspx
Qdabra also provides detailing service which can be used to improve performance on your form: http://www.qdabra.com/en/consulting/detailingService.aspx