How to do picking based on delivery number in MSCA

Is there a way we can do sales order picking with reference to delivery number in MSCA ?

We have many ways of picking like Paper based /  cluster /Bulk / manifest etc , but none of them use delivery number for  picking.

Client wants to use manifest picking because it has skip task functionality , but this is based on sales order number .

One delivery can have multiple sales order number and releasing partial quantities is a common process . This will create a confusion to pickers if picking is not done for already released sales order and a new quantity is released for the same sales order which will have a different delivery number .