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.