I suspect this is a combination of delivery services being simultaneously an oligopoly and heavily unionized. The combination of little competition and high wages makes it difficult to justify going the extra mile.
For what it's worth I know at least UPS has a premium service where you can schedule your delivery to a specific time during the day.
The thing is, in Japan it's nothing special. Even post office would do it. More, if you wish they would lleave the package in nearest combini so you can collect on the way back from work. Combini is a convenient store available almost on every corner. It's just their customer service is on a different level. Keeping good reputation is important for them, event if sometimes cost a little bit more.
For what it's worth I know at least UPS has a premium service where you can schedule your delivery to a specific time during the day.