My initial thought for self-driving delivery trucks was to combine the two. A truck drives itself to your house. a quadcopter flies out of the truck and leaves the package on your stoop.
The only practical thing I see happening is scheduled deliveries within a certain 15-30min window and having the drone text you when the package is there so you can physically go and retrieve it out on the street/sidewalk.
Of course, the problem then becomes having a drone hovering and waiting while the person comes outside. And obviously that will cut into the profit of the delivery service, as you have a drone waiting on people to get out of the shower and stupid things like that.
would just have to figure out how many drones vs how many packages are optimal.