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
The problem I have with that is you have to tip before you even eat the food. They could have screwed up your order, burnt your food, etc., but you won't know until after you've already tipped them.