The point of infrastructure is to have a common substrate where members of society can provide services to each other. Sure, in some sense there are subsidies but we have to account for the positive externalities. After all, a tennis court has very low utilization of space so that's a "subsidy for rich guys to talk about crypto". And golf courses likewise.
It's just not a meaningful way to think of infrastructure. The point of infrastructure is that it benefits society, and it will benefit some people more than others. Nice sidewalks benefit the rich people who live there more than they do the poor people who have to drive from the suburbs to work there.
And this business about "have to move out of the way" is really a bit much. If they're impeding the disabled then that's of some significance, and ensuring that those who need wheelchair access can still get places is worth it, but any able-bodied person can easily step aside.
I find the online reaction to so much of this stuff hard to fathom. Occasionally, I'll walk by a Lime / Bird scooter that's fallen over and I just pick it up and place it on the side. The net gain to society of having easy-to-access last-mile transportation is probably much greater than this happening occasionally. I really think these things are far overblown. But if you go online, you'd think that sidewalks are completely unwalkable. I principally walk and bike (now e-bike) places and this has never been a problem either in San Francisco or London - both cities where a large contingent has constantly insisted that it is.
These delivery companies are being subsidized by our already-limited pedestrian infrastructure.
Also, no human should have to move out of the way or trip over some someone's burrito delivery robot.