Yes. Add the instruction to a saved customer in your Address Book and it carries over to that customer's future stops; for one-off orders, add it as a stop note. Shopify local-delivery instructions are also parsed onto the stop automatically.
These notes display to the driver in the app, and a required Driver Task can prompt them to confirm the leave-at-door step. Works in both EasyRoutes for Shopify and EasyRoutes for Web.
See: Driver & Stop Notes · Address Book