For the past 30-40 years, the Dutch have managed to completely transform their urban landscapes into something far more people friendly. Additionally American cities used to be dominated by pedestrians and bike, the car centric city is a relatively new phenomenon. So it quite possible for the US to reverse the damage done by cars, and plenty of case studies to base the work on.
There's a logical place for an autonomous delivery vehicle, but wasting 95% of its energy fighting against gravity to carry a six pack of beer is absurd. Make a ground vehicle the size of a Saint Bernard that travels in bike lanes. Big enough to handle a large array of direct deliveries, and probably had a much longer runtime on a charge.
If you want to be really seamless, build dedicated routes for them in underground tunnels.