From our experience at AoA in January, DoorDash only delivers to resort lobbies (less than ideal when staying in the Little Mermaid section). Two Uber Eats drivers had no problem pulling up along the sidewalk in the parking lot near our building by manually setting the location pin. Uber drivers also picked us up there, so I assume it's just a difference in policy between them and DoorDash.
I don't think anyone will deliver to your room, and I'm pretty sure it's against Disney policy anyway. For everyone's safety, it's really best to meet in/outside the lobby. Personally I don't have a problem meeting someone in another relatively well lit and well trafficked area if it means saving some steps at the end of the night, though.