For what my wife and I would typically order for anything that would be regular enough to be comparable to Blue Apron's 3-day a week frequency, yes.

For special “eating out, but at home” events, no.

it's a lot. most restaurants will deliver for free (if you're in their radius, and order above a minimum $ threshold) and you can optionally tip the driver a buck or two if you feel like it. $5 is a lot considering the competitors costs (basically $0).