Hyphen with Compound Modifiers: Two-Word Adjectives Before Nouns
Using hyphens to connect words is easy. Picking the right words to connect is a little harder. Let’s start with compound modifiers.

A compound modifier is made up of two words that work together to function like one adjective. When you connect words with the hyphen, you make it clear to readers that the words work together as a unit of meaning.

It’s recommended you don’t take down any load bearing walls when renovating.
In this sentence, it sounds like you shouldn’t take down any load that is holding up a wall. A hyphen should be inserted between load and bearing to make it clear that we’re talking about walls that are bearing a load.

It’s recommended you don’t take down any load-bearing walls when renovating.
This rock-hard cake is absolutely impossible to eat.
We’re looking for a dog-friendly hotel.
Generally, you need the hyphen only if the two words are functioning together as an adjective before the noun they’re describing. If the noun comes first, leave the hyphen out.

This wall is load bearing.
It’s impossible to eat this cake because it is rock hard.
Is this hotel dog friendly?
You also don’t need a hyphen when your modifier is made up of an adverb and an adjective.

Do you expect me to believe this clearly-impossible story?
Do you expect me to believe this clearly impossible story?

I think this is the nearest to your problem.

Socially is an adverb, and distanced is an adjective. So you don't need the hyphen.

Also it is clear socially doesn't modify parcel, but I suppose it could be properly modifying delivery.