That only applies to employees. That does NOT apply to contractors. There is no minimum wage for contractors.
There is no “tipped minimum wage” for most delivery drivers. DD does not have to pay one thin dime if the driver doesn’t make enough tips to reach minimum wage.
Further, the contracted worker is responsible for their own expenses: the IRS says a mile of travel costs $0.655. DD’s usual $2 base pay covers only the first three miles worth of travel expenses, even if the actual travel is much more than 3 miles. I regularly see 12-mile trips with $2 to $2.50 base pay. The driver pays $8 to make these trips; the first $6 of the customer’s tip just goes to expenses before he actually earns anything.