Pretty much this...It depends on the place.
A mom and pop pizza pick up place. Sure. I'll even add a tip when I pay with a debit card. The idea being that the whole crew shares in the tips. At least, that's how it is at my local pizza joint.
At a chain? No. Most don't even allow it. For those that do, it feels awkward. I'm not sure why, but it does.
WOW ! That was a beer induced post. I meant to say " If she's haute".Food pick up..maybe a buck or two if she's hot. Anywhere else that has actual service I tip really well unless they've done something egregious.