For us, it seems to be luck of the draw...over the last five years we've lived full time at three different residences (one suburban, one rural, and one semi-rural).
Far and away the best and most conscientious delivery folks at all three locations have been USPS, with their personnel consistently bring packages as close to our front door as possible.
UPS comes in at a solid number two, although deliveries from them is definitely character-driven, and by that I mean most UPS drivers are great, but a couple are just lazy dickheads who seem bound and determined to make a delivery as difficult as possible (on the side of the road, outside our open gate).
FedEx is the wild card here - our FedEx deliveries at the urban location were outstanding, always delivered to our doorstep. Same with the rural location, drop-offs no farther than at the garage door. At our current semi-rural location, completely unpredictable. One day the delivery will be in a neat pile a few steps from our front door, other days it will be tossed to the side of the road next to our open gate (and I do mean tossed; I have it on video).
Honorable mention to Amazon drivers - out of the hundreds of deliveries we have received I can only recall two mis-deliveries, and those were rectified by them almost immediately.
Dis-honorable mention to On-Trac - They mostly delivered to our rural residence, and they were horrible. Always a challenge when they delivered to see just how far from or house they would leave our stuff.