I haven’t picked up but I was there last month and they didn’t require an appointment for shopping in store.
You may have to wait in line, should be short on a weekday. There’s an associate standing at the entrance who will take down your name and number and hold your place in line, I believe you are allowed to leave and return when it is your turn but I’m not sure if they’ll text you or not when it’s time. I’d let them know you’re there just to pick up and they might let you in as a priority guest.
I just waited for a short moment and since no one was returning for their slot she let me skip the line! You will need to wear a mask and use sanitizer!