the middle option on doordash is usually fine.

the more you tip on any of the apps, the faster and warmer your food arrives, no work arounds other than removing a little off the top if the trip didn't go as planned. (uber only)

for grubhub and doordash you could always not rate the driver then tell support your food took too long, they'll refund you an amount. i understand sometimes it's busier than usual and you don't want to burden your driver with a poor review so if you don't rate them, it likely won't affect them anyways.