Maybe asking the obvious, do you need to? Why not drop the package downstairs, people can use the elevator like normal people? Assuming there is some sort of hand-off with identification.
You can pretty naturally extend this once you have self-driving vans.
I think Amazon has a proprietary version of this in some parts of the US, but at least where I live, the lockers are a car drive away, which defeats the purpose.
Seemed to work well enough for the times I used it. Honestly though I really valued the time to take a break and go for a walk and have lunch away from sitting at my desk.
(Of course you can still choose to have them delivered to your door, but I find the delivery people don't ring the doorbell and then mark the delivery as missed, even with instructions to leave the package in front of the door. But that's a separate issue.)