Take ID, sometimes they ask for it. They probably just know me by now, I haven't been asked in years.
I would also call ahead and tell them you will be in. Hopefully they'll take some initiative and have the box up front instead of making you wait a half hour while they find which truck, wait for the truck to come back, start unpacking it....
But yea, UPS, FedEx and DHL, I've gone and picked up at each of them when they missed for a signature delivery.