What drugs are those? Looking at the list of most common drugs prescribed, I can't see any that shouldn't require a doctor. Maybe finasteride, viagra and retin a but those are available with a usually are available with usually free telemedicine visit at one the many telemedicine startups.

https://www.goodrx.com/drug-guide

I've taken several over the years where nothing was needed except telling the doctor or psychiatrist that "yep things are still the same". Adderall, Ritalin, Lexapro, Trazadone, Xanax, Gabapentin, and more all fit in this category for me personally