In the densest parts of European cities, the delivery lorry stops outside the supermarket just before or just after the shop opens and they unload quickly. Often, that pretty pedestrian street full of shops has road access to the rear, but not always.
Parking regulations are written to accommodate this. The pedestrian streets in the centre of Copenhagen allow deliveries from 4am to 11am, but I think there may be additional restrictions on large trucks as they seem to be out before 8am. Rubbish collection is also at these times.
Yeah, I would add: for a small shop the delivery van doesn't necessarily need to be that big either. I know a lot of shops that get supplied primarily by vans that are not much bigger than a transit van.
Parking regulations are written to accommodate this. The pedestrian streets in the centre of Copenhagen allow deliveries from 4am to 11am, but I think there may be additional restrictions on large trucks as they seem to be out before 8am. Rubbish collection is also at these times.