Yes when you pick up they come out ti car
Wait in your car if driving (wait on the balcony if walking) and call the office. The first option they give you is something like "if this is a medical emergency or you're waiting outside, press 1" and tell them your name/phone/pet name and that you're outside for medication pickup. The process was super seamless when I went a few weeks ago.
For office visits they come to the car to get your pet, so I assume they would bring medicine out to you.
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