Maybe delivery services should be more expensive?

You are subsidizing private enterprise by tolerating organized violation of traffic laws.

If you want delivery companies to be allowed to behave this way, then make a law. It's perfectly reasonable for a municipality to except certified delivery companies from some traffic rules...

How much surcharge should you expect for the ability to perform a verifiable miracle on demand?

An actual workable solution would be to simply not allow deliveries to a building unless it has an available commercial delivery spot. That may make some businesses unhappy however. Residents may be unhappy to see entire sections of the city suddenly have no walkup businesses as well.

Having a driver and a delivery guy who steps out with the packages could also work...

Point is, you can change prices, stop offering the service, or fix the law.

But allowing businesses to ignore the law is not a good idea. Change the law instead, if that's what you want.

Years ago I worked at UPS while going to community college. This was in a suburban/semi-rural area of NC. At our UPS center, the wait time to become a full-time driver was around 7-8 years (union seniority rules and all). Management never got tired of reminding people that if you were willing to transfer to Charlotte, NC, you could land a driver job in as little as 6 months. For some reason they never had any takers...