Not saying no rental agency will do this, but I agree with goofy4tink. I can't see it happening. They likely can't transact the rental process in an ideal way remotely - but some WILL pick you up. Alamo has a shuttle to the Car Care Center; Dollar will pick you up; as we all know from their advertising, Enterprise picks you up.
Hertz does it if you are within a certain distance from the office.
When I rented Last Dec they picked me up at my house with the car I rented, drove me back to their office and I was on my way. When I returned the car they drove me home.