For real: if you don't have a car or bike, just tank your Uber social credit score rating.
I mean, I don't even think an Uber driver would accept that, there isn't a 'go through the drive through' option, and if you tricked the Uber driver they would just not do it.
Uber does a pretty good job of catching a driver off guard by not making the destination clear in all cases. But the pickup and drop off is the same location. So a driver can easily just mark the trip complete and kick the passengers out of their car and collect their minimum fare.
They'd probably just cancel it. The last thing they would want is to get banned from the app for accusations of stealing or fraud. As long as you don't cancel too much Uber and Lyft are fine with it.