The first "Doordash Kitchens" location is near me. It has rows of metal shelving where people come out of the non-visible kitchen and put packages on delivery racks, to be picked up by waiting drivers in their waiting room.
They're not quite organized enough for it to be a drive-through operation for the drivers. This works for Doordash because Doordash doesn't pay for driver waiting time. If the drivers were employees, which is probably happening in California next year, the next driver would take the next outgoing package, regardless of destination, to optimize driver utilization.