Lol good luck with that. You would just waste more money and time doing this. What I recommend if you are a freelancer / contractor is to just let them know that you cannot take a day off to wait for their courier as you don't have vacation and are not paid unless you work (so that would incur financial loss to you).

So inform them to arrange a courier to come pick up the item at a specific time convenient to you (Saturday from 10am to 5pm or Mon-Thu 7pm-10pm) and it's their headache now. They have to work around your schedule without inconveniencing you.