Yes, they hand you the swab in your vehicle with the window cracked.
Just like a fast food drive through - a car is not required but it is possible to do it sitting in the car.
Not sure if they have something separate for walk up. I only saw and participated in drive through. I registered for an appt on line but they also had a lane for people without an appt. Very quick and efficient.
Thanks! Your answer is awaiting moderation.