It has not eradicated it wholesale, just help reduce it significantly in built-up areas, and the kind of animals likely to interact with humans and livestock. If a bat flies into your bedroom and bites you, you still need a rabies shot. I sometimes find the vaccine "treats" littered around when I go on my hikes. I suppose if I ate one I'd develop some rabies immunity, but I don't think they're approved for use in humans. LOL.
An edible adenovirus vector COVID-19 vaccine for animals (or humans) is almost certainly possible, technologically. It's probably nearly hopeless to expect to eradicate it that way, admittedly. But I thought you might find such wild animal vaccination programs interesting if you didn't know of them already. It's done in a variety of places for a few different diseases.