Funny you posted this- I was just thinking the other day i should ask for opinions on this here!
I have in the past, but never more than 10%, and I don't always. If I know it's being prepared by servers rather than a designated takeout person, then I definitely would, but I don't usually know the inner workings of the places I'm ordering from. I think if servers are preparing, places should add the 10% themselves, I've seen this plenty of times, it'll say something like "A charge of 10% will be added to all to go orders for the servers who prepare them." Love that, since as the customer I almost never know how places handle their to-go.
My general rule of thumb is, if the person is doing something extra (delivery or curbside pickup), or of course if the person is a server as their wages are dependent on tips, I tip, and I tip well. However, I don't tip when someone makes a full wage and is only fulfilling the obligations of their job (I don't typically tip a barista, for example). My reasoning there is like others have stated- what's the difference between a barista and a drive thru worker? If I'm tipping them, should I be tipping retail workers too, since they also work very hard and make very little? It would get out of hand quickly.
ETA: I also tip if I'm placing a large or complicated order or if I'm ordering on a major holiday.