It's just that other drivers get pissed off if you block a car lane when there's a bike lane next to it. That needs to be trained away by enforcing the rules.
In which municipality? In most cities and states in the US, it is illegal to obstruct a roadway. Taxis may get some carve-outs for loading and unloading disabled people, but usually, even taxis are supposed to pull over before stopping for a passenger.
The car stopping in car lane, far enough from the bike lane that its doors won't enter it, and letting the passengers out into the road, is by far the safest. Yes, that means now-pedestrians end up crossing the bike lane. That's a lot better than a car. They move slower, and more predictably, while simultaneously not blocking it for long enough that anyone is motivated to deke (my spellchecker doesn't like that? Is that a word outside Canada?) out into traffic.
Larger scale deliveries (e.g. to malls, grocery store, factories) should have a privately owned off-road, built into the structure place for trucks to park and drop things off. Though things like factories often simply don't belong in the dense part of the city.
This would all be solved if we just had delivery parking spaces and got rid of on street parking for everyone else. Really, just that part is just where everything falls apart quickly. This is why traffic seems so much better in Europe (at least where I've lived, like in Switzerland), deliveries work, cars are not parked on the street except at a few very expensive parking spaces.
The complaint I keep seeing is one of public subsidy. So you're suggesting we subsidize deliveries but not general parking? (To be clear I think it's all just anti-car absurdity.)
Of course merely repurposing a few spots to "commercial deliveries only" every few blocks would probably work. I've seen that done in a few places. I think it comes down to a planning and administration failure.
But ya, if you want to roll back car use, you can do that fastest by restricting free parking. Your community better be prepared for that with adequate public transit investments. Better to just roll back free parking slowly while ramping up public transit investments, but America always messes it up one way or the other.