When I was a delivery driver:

If you're not too rich to care how much you tip, tell me instead of tipping you want to text screenshots of your order totals and have me beat the price and deliver myself instead of finishing checkout to do it through the app.

Or tell me the items and let me bring you the receipt and add a delivery fee to the price. Then you won't actually know if doordash is cheaper, but you'll know exactly what it would have cost to just pick up the delivery yourself.

Keep doing this every time you need doordash, until so many drivers have said "sure, here's my number" that you always have someone ready to bring food without doordash.