Your baseline assumption here is that interaction with another person is burdensome. Most people don’t feel that way, and if they do, they probably don’t work in the service industry.

So, presuming the doordasher finds human interaction to be neutral (neither good nor bad), and understanding that the customer is not making the joke at the expenses of the door dasher, I fail to see how this is a problem, even if the dasher doesn’t get it. Someone trying to share a joke with you, even if you don’t get it, is usually perceived as friendly.