And the people making those incentives know it! They can't always legally tell an employee to do bad/illegal things, but they sure know how to build a system where thats the only option.
Or should anyway. But nope, money first, people second.
On-topic: Workers' rights have taken a backseat due to aggressive lobbying for several decades, not least in the US.
Even in countries with very strong socialist foundations unions are hollowed out to the point where entire fields like IT feel like they have no use for them. Sweden is a good example: IT professionals are sought after to the point where they currently (rightly) feel like they have no use for unions, but when they turn out to be the new factory workers they won't have an already established base to unionize on.
Maybe I'm silly to worry, but I feel like this is all a pretty big mistake.
If you're in an industry where hiring costs are high (eg software) then it's often cheaper to keep staff happy than to recruit new ones. 'as little as possible money' is sometimes spending more now in order to save a larger sum of money you'd have to pay out on recruitment if someone left.
That said, I strongly suspect this is not the case for delivery drivers.
That's also how research/PhD programs work. Sure, you aren't forced to work like a slave and sure, you don't need to endure slave wages... But your supervisors and advisors tell you that's what it takes to get that competitive advantage in a very competitive field, and if you want to get ahead in life you need to have what it takes and be a team player...
This type of gig is just a means to exploit poor people by one of the riches, most successful companies on the planet.