The restaurants need to work through their own trade organization where they band together and push out the delivery businesses that are costing them money, and then allow delivery companies to bid for their business.
Charge restaurants no fee for the platform, if they provide their own drivers. Charge restaurants money through Google Ads to promote their restaurants for higher results.
In a few years, get Waymo's driverless cars on the game.
Platforms like grubhub and doordash could and should still exist, but they shouldn't be separate VC-backed for-profits, they should be restaurant-owned.