You don't do the deal at the store. You set it up online in your My UPS Choice account.
https://www.ups.com/us/en/track/ups-my-choice.page
Once you create an account there is an option that says:
Send your home deliveries to a UPS Access Point® location for pickup at a later time.
We'll apply this preference to all eligible shipments unless it's superseded by a shipper restriction, legal or regulatory constraints, or an existing hold request.
As the link above says, here's the cost:
Deliver to a UPS Access Point® location*† $5.99
For example, I've used CVS as most of their locations are UPS access points as shown here:
https://www.cvs.com/content/ups
But there are others of course.
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