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You could ban delivery vehicles over a certain size so that only small autonomous delivery bot could do the last 100 yards between the main drop off spot and the delivery van/truck.

Time to disrupt the notion of 'delivery': Sign up to drop off a package or two and get access to the internal city streets for x hours. What could go wrong?

That is why it is hard. Delivery needs to have a definition that doesn't allow that. Probably it needs to be so strict that a delivery driver cannot even buy a soda at the store they are delivering to.

You could define it by volume or weight of package.

Package-carrying bikes can take a surprising amount. https://www.carvelo.ch/de/private/modelle/data/51.php

Anything that can be carried by a bicycle courier, must be. Anything else, <6am or >9pm (for example).

In Groningen, NL deliveries to inner city shops and restaurants is limited to timeslots ( something like up to 11h00 ).