It would never be possible to require only curbside or delivery. There are far too many people (older or due to economic reasons) that do not have internet and would be unable to place their orders ahead of time.
I have tried to use Instacart on multiple occasions and been frustrated every time to the point that I do not place the order. I've found that items I KNOW a store carries are not listed and I hate that I can't use coupons. More than a few of my friends have been repeatedly frustrated by their "shopper" not substituting appropriate items (almond coffee creamer vs another flavor of the same type, or items containing sugar when they ordered sugar-free).
Some Target stores do not have the capacity to store cold/frozen items and therefore will not allow ordering ahead.
The Aldi near me has not yet offered pickup service, nor do either of the Ruler foods (Kroger's version of Aldi).
I have found both Sam's Club and Walmart online ordering to be easy to use. Most of what I buy is house brand and I appreciate that when Walmart is out of an item, they'll sub the name-brand item at no extra charge.
I would LOVE to have more options for grocery order/pickup/delivery, but the system is limited, not just by staffing issues, but also technology and space constraints.