No, part of the problem here is that the big delivery company will always win in SEO.

It doesn't in my experience. Google Five Guys near you, the actual first result ignoring ads will almost certainly be their website or even its order form. Same for every local restaurant with an order form I've tried it on.

A lot of "local restaurant order forms" are actually sites set up by the likes of GrubHub, Uber Eats, etc. Not all of them, but it's one of the sneaky ways they use to insert themselves.

But people like you and me are in the minority.

Most young people I know, when they want to order takeout, go directly to their preferred delivery service on their smartphone, select from what comes up, and consider nothing else.