The problem isn't trucks -- obviously, it's hugely more efficient for a single truck+driver to deliver 100's of packages in a single day than for 100's of individual people to spend an hour each going to/from a store, and even worse for congestion if even more than a few are taking individual vehicles. The problem is parking. And the solution is obvious: multiple truck-length parking spaces along each and every block…
Your solution is effectively corporate welfare. The free market should determine whether customers will order packages or not. Also, you are suggesting that the government should provide an easier means for businesses to serve their customers in a way that gives them an advantage over the local businesses that pay local taxes on purchases. The real solution is to make delivery companies pay for the congestion they ca…
Congestion charges are only going to be effective if all road users have to pay it. If you want to charge delivery trucks but not personal vehicles, you're only going to make the congestion problem worse.