DoorDash doesn't mark up menu prices any more, at least in my market. Supposedly restaurants didnt like the hidden markup, so they moved all of their fees into the delivery fee and the service fee.

Its not terribly fair to consider taxes and tip as "hidden charges", IMO. The taxes you pay even if you go to the restaurant yourself, and the tip is the majority of what the drivers get paid -- they dont work for free. I'd prefer a flat driver's fee, though, its not twice as much work for someone to deliver $50 of food vs $25, so I generally don't make large orders on DoorDash.