FWIW, that's what I do. My store usually gets deliveries between 10 and 11. The MyChoice app pings me to tell me they've scanned it in at the store. Then maybe a half hour or so later they call me to tell me I can come get it. It's much faster than waiting for delivery at my house (which usually doesn't happen for sig-required packages until 6-8pm at night). It's also much more convenient for me, as it's closer to me and the staff are more friendly. My hub has no parking and no real customer service desk (even though it's a Customer Center), and it takes them forever to find anything.
If you're feeling unsure, call the store that you want to pick up at and ask them what time they get packages, and if they make them available for pickup the same day.