There are middle man services for certain types of food in certain areas.
For example Slice is a popular one for pizza. I know a business owner who uses it.
They have an app and optionally an online menu on your custom domain to take online orders and physical hardware for taking orders in your store. Think POS system, register, terminal, printers, etc..
For a business owner that covers you for accepting online and offline orders, and you can deliver direct to your customers.
95% of his online delivery orders go through this system because DoorDash charges him (the business owner) 30% for each order so he raised his prices there to partially offset that. Slice on the other hand is 5% cheaper than his baseline price for online orders for customers so it's a no brainer most use that. With that said, way more people call in or come in person than using the app. Probably a 90% / 10% split.