Yes I have the same issues. If it is a man i recognise from previous deliveries I would be inclined to ask to drop off in kitchen.
Usually though I have it dropped just inside doorway then they cannot get past! Although I then have to bend over/down to stack it on floor.
Several times I have had lewd comments like "nice legs" or staring st cleavage. We have a photo of family in doorway and once someone said "fuck me you scrub up well" I was so shocked i just smiled and said thank you. Next time I answered in my dressing gown which is full length up to collar! and husband loitering near door!
Makes me feel stupid to feel unsafe to allow them into home to place in kitchen. I am on my own normally when they come so just don't feel safe to do so.
You wouldn't normally let a stranger in your home when alone, so what difference if he is carrying your shopping!