The way this was handled before these gig economy food delivery companies sprang up. People didn't automatically die of starvation because they were disabled and became adults prior to DoorDash. Medicaid and Meals on Wheels fill in some of the gaps depending upon age and state.

These companies springing up put the old ones out of business. For example check the number of restaurants that hire their own drivers now. There's no going back to the "old way" when it doesn't exist. And now this kind of consolidation means they get to jack up prices however they want.