When applying for stamping, you need to provide copy of proof of legal presence, like work permit, PR card. Even if they deliver to your home, they might ask for ID. I am not sure , sorry. But there maybe option to give address of US for the ID but deliver to Canada address.
Thanks @maverick1982, My spouse in working in Canada and I can provide his Canada address. If I choose expedited delivery for the passport, I believe I will not have to go for pickup but the passport will be delivered to my Canada address. Can you think of any other step which requires an ID with Canada address (either during appointment booking or for any document submission)?