The fact that Dominos practically begs people to come in and pick up their pizzas themselves undercuts your arguments about driver idle time. Maybe in your market they sit idle, but in mine I'd imagine they are spending 90%+ of their time fulfilling orders. My orders often spend 10min in the "Quality Check" state (waiting for a driver under a heat lamp).
Automated driving is orthogonal to the bake-as-you-drive model. Dominos will also switch to self-driving when they can.
The cost of owning 10 oven-vans vs 1 store + 10 regular cars will be the tough part and will require scale, but pizza is big business.