Yes, CDL companies that have you home daily are food service, dump trucks, contruction, beer & soft drinks, waste removal, even SOME fuel tankers. The food service & beer / soft drinks are physical labor with some driving. You are lifting & moving boxes at each stop.
Some food service & beer even hire driver helpers with just a CDL Permit. Then after working & training you earn your CDL. Google these type jobs or look for them on Craigslist.
The drivingbfrom hub to hub ( terminal to terminal) is called Linehaul. That’s the peak of driving for company drivers. Most companies that have those jobs require EVERY new-hire to work on the dock before driving the truck even if you have 10 years CDL experience. Very few hire rookies for that position.