Virtually all of the cost of delivery is borne by the restaurants. So they can and will just pass the increased costs onto the restaurants and the consumer is unlikely to see any change.
Parent comment is talking about how prices are increased artificially on delivery menus especially those listed on Doordash. If you order pickup from the restaurant (via their actual website or a phone order) you won't face this.
An example would be 5 Spice in Brooklyn: their menu (1) vs. the Doordash menu (2) have significant price differences.