It really is very context dependent, and can change rapidly. When I lived in one apartment, I would always prefer UPS as that driver would leave my packages at the leasing office across the parking lot, where FedEx would try once then make me drive to their location to pick it up, and USPS would try for several days in a row (so if I went to the post office to pick it up at lunch, it was always out on a truck) which meant my packages would come 3 days later than I expected.
Then I moved to another apartment in another town and I preferred USPS because they had keys to leave the package in basically a PO box in the entryway that was meant for packages. UPS left it at the leasing office which meant I had to walk a few blocks to get it and a few blocks back. FedEx would somehow get into the building and leave it sitting in front of my door, which is super not cool with an iPhone-sized package that says "T-Mobile" on the side.
Now that I have a house and I work from home, I prefer USPS because they come at 9am, whereas FedEx comes around noon and UPS isn't here until after 5pm. Even though USPS "tramples" my lawn, they're going to do that anyway to deliver mail, and I'd rather get my package earlier. Plus UPS and FedEx knock on the door which makes my dogs bark when I might be on a call with a client.
But even then, my postman would sometimes walk through my gate into my backyard and leave packages at the back door (I guess to keep them from being stolen?), which stopped pretty quick when he walked through the closed gate and came face to face with my very surprised and scared dogs. Don't ignore a "beware of dog" sign just because you didn't see the dog before you opened the gate. Luckily he just got cornered and not bitten.
Delivering packages with high customer satisfaction is not as easy as it sounds.