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Don't use multiple DOs to supply the same goods to the same building.
Don't use DOs to supply the Rail Construction Office.
If you follow these rules, you should never have residual cargo in your DO vehicles (tell me if I missed any). You can break the rules if you use vehicles with small capacity compared to the warehouse capacity and destination %, such that there will always be space to unload a full load, but that's marginally more complex than just following them.
One of the primary benefits of a DO, its reason for being, is that by design it won't ever need to wait to unload (if used properly e.g. following the above rules), thereby keeping the vehicle (and the parking spot) free for other tasks, so I can't imagine incorporating a "feature" to deliberately make them wait. Just use a line if that's the behavior you desire.
Well, in other cases I wouldn't be so sure, but I had at least one case where I am 100% positively sure that I don't supply same building with anything except a single DO. And yet, it stuck. A DO that have only three points - the customs (for meat), the warehouse (for everything else) and the shop. The shop that supplied only by this DO.
If they're just sitting there waiting it would most likely mean the related shop is already full on whatever that product is. Usually they don't pick up enough to have leftovers after the delivery, the only way I've seen that happen is when other delivery services make drop-offs while the DO truck in in transit.
Some screenshots might help illustrate what's happening better.
Did you have auto-purchase enabled for the shop? That way the DO might have bought resources that were covered by auto-purchase by the time the truck arrived at the shop.