Regular Uber.
Call in order to restaurant and pre-pay. Have them double seal it if you have kashrus concerns. When the food is ready for pickup, drop a pin at the restaurant and request an Uber. Once driver is assigned, call driver and explain to them what you're doing and ask them to go inside the restaurant and pick up the order under your name and bring it to your destination - you can also put destination into Uber for that. (I know some people have arrange with the restaurant to have them bring the order out to the car instead of asking the driver to go in, but that requires further coordination, and so far I've never gotten any backlash from asking the driver to go in, so this is how I do it.)