Check Delivery with Ordered Items

We have a process where a number of sales persons visit clients and collect orders.
The orders are entered as Sales Order Entry. These sales orders are passed to the store where the orders are prepared for delivery.

It so happens that sometimes the person building the delivery, picks the wrong items. The mistake is only noticed after delivery is made.

Is there a system where the item codes are scanned and compared to the sales order so that such mistakes are caught in time?
Is this possible with FA?

Thanks
Carmelo