They do deliver in some areas in the DVM including Fairfax County
https://grocery.walmart.com/locations/delivery/ . $30 minimum with delivery fee $7.95 or $9.95 depending on whether a peak or non-peak time with tipping optional. One hour time slots 8am ending 8pm seven days a week. Have used four times since before 4th of July. Appears to be Walmart store workers delivering in their own cars locally though in other areas nationwide other local delivery services may be used, so they do not accept paper coupons if you use those. Once the delivery leaves the store, GPS tracking of the vehicle is provided with driver's name, car type, and license #. They are only required to deliver to your front door, as their insurance covers only that, though some drivers voluntarily will carry the groceries further inside for you.