One approach is to have "delivery points" spaced about two blocks apart. These can be in stores (preferably ones with late hours), or street-accessible boxes. Packages are left at the delivery points, rather than to every individual's door. This worked well when I lived in an apartment complex. Packages were delivered to the office, not to every apartment, so the delivery trucks weren't cluttering up the streets. In fact, they had dedicated parking spots at the office for deliveries.
If the trucks are dropping multiple items at a delivery point, they are spending less total time on the street, and it's not out of your way to pick up on the way home. Bonus points if the delivery point is a pizza place or restaurant that already does home delivery. For a bit extra they can bring the package to your door, if you are lazy, because they are already set up for it.