The sheer amount of variables that this would require, without error, would be ridiculous. UPS and other places tried to make the customer do it by storage lockers, and those failed. There's nowhere near any elegant form of solution to improve on that.
Right now, my neighborhood has grouped mailboxes[1], and anything more than a semi-flat package will not fix. Small boxes that don't fit are delivered to the shared larger compartment, which is locked, and the key is then left in your mailbox. When you use the key, it does not come out of the shared compartment, so in retrieving your delivery the key is automatically returned. I don't see why this system can't be scaled up somewhat. Automated delivery to a shared compartment which can be designed to accommodate such a scenario would be significantly easier. Want direct to home delivery by a person? I'm sure the delivery companies can accommodate you with a special type of delivery[2]. Theft might be a problem, but since these are generally in neighborhoods next to houses, and setting up a camera would be simple (and undoubtedly pay for itself in some circumstances when people contend they did not get a package), I think it wouldn't be too much of a problem.
1: https://www.mailboxworks.com/images/af-12doorcbu-lrg.jpg
2: In truth, it would probably start with the automated to shared compartment delivery being a new option that's slightly cheaper. Eventually it would probably become the norm since it's cheaper.
My shipping experience is a constant fight to get them to hold the package for pickup because I'm not going to be home during their delivery hours (~9-5 Mon-Fri) and I don't want to wait four or five business days for them to make several delivery attempts before I go pick it up.
I used one in Denmark last week. I received an SMS saying delivery would be the next day, but I could reply to request delivery to the drop off point in a nearby supermarket instead of at my home. I did this.
I received another SMS with a collection code. A keypad on the set of lockers opened the lock on one of them, and I collected the package at a perfectly convenient time.
Or wait, scratch that; how about Uber for packages. Bored at work? You could be delivering packages remotely to supplement your income!
I think it's only a matter of time before large scale data gathering service providers form a good-enough model of the environment in which they operate, to the point that the core service can be completely automated.
They use "Earn on your own schedule" instead of "Bored at work?" as a slogan, though (https://www.uber.com/signup/drive/deliver/)
Smarter mailboxes where you literally address the mail to an electronic physical mailbox, which digitally signs the receipt.
But the answer is (as always) more automation. Mind, this can lead to really neat edge cases where you accidentally build a package smashing factory. But in general repeatability (machine) beats out diligence (people) every time.
You just have to, you know, pay for it. The cost benefit analysis probably strongly favors the marked box in this case.