I ordered food from a place with zero human interaction. I ordered from a tablet and picked up my food from the counter after receiving a text. I was still asked to tip. At that point, I didn’t even know what I was supposed to be tipping for.
I used to not tip for takeout (since I had thought there was not really “service”), but I’ve since learned that the packaging for take away can be rather involved. So, I do tip now for the labor of readying the meals to go