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In Doordash at least, I click pick-up instead of delivery, and just go to the address given. When I get there, there's a tablet, and lockers, and I follow the instructions to pick my order of food. Everyone else there is picking up for Doordash/whatever.

I have literally walked in to the one in Redwood City and ordered from someone sitting at a folding desk.

Your understanding is not correct. You can either a) schedule a pickup using any app or b) stroll in and place an order off the menu. A) is way more convenient so I haven't done B) in more than a year though.