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You do this by clicking on it and selecting "Don't Entrust". You can also select multiple pieces of cargo by holding down X and d-pad down the list. A check mark will appear in the box to the left of all items you have selected to keep in your possession. Move to any of the selected items, hit A and you'll get "Don't Entrust" prompt, hit A again and all the cargo you want to keep should then move to the bottom of the screen into the "Don't Do Anything" section.
Cargo that's going to be delivered will stay in the top half of the screen. Then hold down A to "Confirm".
I didn't know that the Don't Do Anything part of the screen was a section you had to move things to -- I just thought it was a general command.
You're not alone, I think everyone has done this when starting out, would have been a lot easier if the default was to keep everything rather than entrust it. That way if you make a mistake you can at least get a do-over.