The proof of the sketchiness is that if you call the DoorDash support line, their phone reps are carefully trained with exact wording to be as misleading as possible about this. If you bring up the way payments depend on tips, they will carefully reiterate the talking points.
You can learn a lot from how companies feel about their practices by looking at how they train the customer support personnel with talking points to avoid admitting certain of them.
Customer awareness is the free market solution to this, if that's the hammer you want to use to fix everything.
Maybe grade school should focus on reading comprehension.