Notanan, I have had a letter from NHS Scotland today, advising me that as I'm in the high risk group, that I must ask someone to collect my pharmacy items. It has been happening for weeks, anyway. This is deemed OK, if they are not in the high risk group.
There is no physical contact at all. We also have sanitisation processes in place for anything left on the doorstep.
You implied that you are in the vulnerable group, if you are, it's advisable not to put yourself at risk. However, if you are not and I have misunderstood, there is nothing to stop you going yourself. There is no need to bite my head off. 
One of my neighbours, who is fit and healthy has just left a loaf on my doorstep, no contact at all. It was extremely kind of them to phone and offer. I thank God I have lovely neighbours.