I always collect. I will wait till the next day if I get home late, though. My neighbours have occasionally popped round with a parcel, if they know I'm in already, and they're about to go out. The rare occasions I take one in for them (they WFH, I usually go into the office,) I pop round with it, as they might not catch me otherwise, if it's one of those days where I'm at work then out in the evening. It's not a hardship, though - we are literally next door neighbours, and I just lean across from my step to knock their door.
The only times I haven't picked it up (if they haven't come round because it suits them more to do so,) is when I had no card. In one case, I had started a complaint to say that they'd said it would be delivered and a week on, still no sign (it was something I needed, too, rather than a book or something which could wait.) I'd asked my next door neighbours who usually get my parcels - but not the neighbour two doors down, till she mentioned they had a package for me. It was massive, as well. I felt bad, but never having had a card, how was I to know it was with a neighbour not next door, someone who has never hsd a parcel for me before or since, if I hadn't had a card?
I am also quite familiar with the local sorting office opening times, and the depots of some of the local courier companies.