Deliveroo complaint: Driver stole my order and tried to reverse his car into me, now I can’t get a refund!

I placed an order last Friday and when the driver arrived, he took a 2 digit code from me before handing me my order. He then asked me (a 51 year old woman) for ID as my order contained alcohol, I said I didn’t have valid ID, he then started raising his voice that he couldn’t give me the order, I tried to explain that I have an expired passport but he kept shouting over me, said he had to call Deliveroo outside to find out what to do and then took the order, went back to his car, got in and went to drive off.
I ran out to try and make sure he would call them but he swiftly locked the doors and was shouting from inside the car.
I called my husband to ask him to come outside as I feel intimidated by this man, he also had a friend in the car which set me more on edge.
My husband came out and went to try and talk to the driver but was told to ‘eff off’. He then tried to reverse the car into us.
He then opened the window so I went over as I hoped that it would be an update but no, he flicked his cigarette ash out of the window, blew smoke at me and then said into his phone, ‘she’s here now, she won’t leave me alone, she’s rude and aggressive and she pushed me and my friend saw it’, I was rather incredulous as I hadn’t gone anywhere near him and I don’t think it’s possible to push someone when they’re in a locked vehicle! I spoke up as he had the call on speakerphone so I said ‘excuse me madam, I have not been rude or aggressive and I certainly didn’t push him’, he then shouted at me that he wouldn’t speak to me, he’s trying to work and go away. He then blew smoke in my face again and did the window up and was gone.
I have spoken to, done a live chat with and emailed Deliveroo but they keep saying that as the driver took the 2 digit code, that means that the order has been delivered so I cannot get a refund! I wasn’t even aware that’s what the 2 digit code meant and I asked them why the driver took the code before actually giving me my order.
I also contacted our local Sainsburys that the order came from and the shift manager ed that the order was not returned to the store by the driver, that’s theft in my book.
Deliveroo have not replied to my emails and really don’t seem to care that they’ve employed a thieving and aggressive driver so I’m after all the help I can get! They state that they’re ‘customer obsessed’ on their website but they don’t seem bothered about this customer and I have been a good customer of theirs.