Here in Australia if I'm not home and miss the attempted delivery of a package a card will be left in my mailbox. The card has a barcode on it and will tell me where to pick the package up from, typically it is from my local post office.

When I bring the card to post office they scan the barcode then send someone out back to fetch my package they ask me for some ID and check the name and address on the id with the name + address on the package. No fuss no drama. The idea of leaving package on doorstep seems bizarre.