It seems to depend on the individual Tesco driver whether they carry the order into your kitchen or not. If they don't, I'd say that you should ask them to. Answer the door leaning on a stick if you think that would influence them, but it should not be necessary. The whole point of the delivery service is to be helpful!
The ones who have brought mine have always asked where to take it, carried it into the kitchen, unpacked the trays there, and put everything onto the work surface. They tell you what has been substituted and return it if you don't want it, along with anything that is not up to standard.