Replacing the warehouse "pickers" will probably happen. If you don't know they already have robots that bring over a whole shelf of random stuff, but grabbing the item and putting it in a box is still done by humans. The warehouse is a controlled environment in a fixed location, so existing robot arms would work - it's just a matter of getting the computer vision dialed in, and there have been huge advances in that field.

Delivery drivers? In 5 years? Autonomous vehicles are still twitchy in known locations and I don't see them getting to the global 'fire and forget' stage that quickly. And a delivery bot that can grab package and walk down paths, open gates, go up stairs, lift 40lbs, avoid pets, deal with uneven and slippery terrain - it's just not happening any time soon. We have functional prototypes of humanoid robots but they operate in controlled test environments with supervision - you can't just put them out on the street. You might use a big extendo arm mounted to the truck but then you have to worry about it getting caught on stuff.