The article specifically mentions Cloud Kitchens, and my understanding is that they do not allow for pickup. Is your experience different with your local Cloud Kitchens location, if so, how do you order pickup (call/text in)?
In Doordash at least, I click pick-up instead of delivery, and just go to the address given. When I get there, there's a tablet, and lockers, and I follow the instructions to pick my order of food. Everyone else there is picking up for Doordash/whatever.
Your understanding is not correct. You can either a) schedule a pickup using any app or b) stroll in and place an order off the menu. A) is way more convenient so I haven't done B) in more than a year though.