Amazon offers a delivery method called "Okihai" (置き配), which, as the name suggests, has the courier simply leave your package somewhere like the entrance of your home rather than handing it over directly. Even without a delivery locker, you can receive packages while you're out, which means no more hassle dealing with redelivery slips.
You Can Pick the Drop-Off Spot
Okihai is available when the shipment is fulfilled by "Amazon" itself. The Okihai setting and the drop-off spot can even be changed mid-delivery. So when you're thinking "the package should be coming soon, but I really want to take a bath right now," switching to Okihai means you don't have to wait around to receive it — pretty handy.

You can choose all kinds of drop-off spots: the entrance, the gas meter box, the basket of your bicycle, and so on. If you live in an apartment building, you can apparently have the package handed off to the front desk too. If you only want to use Okihai once, make sure to uncheck the "Use this same drop-off spot for future orders" option — otherwise, future deliveries will also be left in the same place by default, so don't forget to untick it.
Delivery Completion Is Notified by Email
Once the delivery is finished, a confirmation email with a photo is sent to your registered email address.

If you choose the entrance as the drop-off spot, the package gets placed beside the door. If there isn't much space near the door, opening the door can drag the package along the floor with a "zzzzzzt" sound, so be careful. Here's what it looks like when you choose the bicycle basket.

Depending on the size, the package might be placed in at an angle. If you don't want a photo to be taken when the package is delivered, there's also a setting to disable the photo.

Could Be a Good Service Depending on Your Situation
Since the package is visible from outside, there's the risk of theft, concerns about the weather, and — especially for women living alone — the fact that it can give away that you're about to come home, so there are plenty of issues. That said, having to deal with a redelivery makes you feel bad for the driver, and calling to request a redelivery is a low-key pain, so I think it's a useful service for short outings or when you just can't step away for a moment.