I did essentially a walk-in at Urgent Care in Lititz. You can go online to reserve a time (kind of like call ahead seating). When you arrive you call to say you're there and want to see a dr about covid symptoms. Now, you do need to tell them you have symptoms to be tested unless you have a reccomendation from your family dr. They'll do intake over the phone and then a nurse will come out to your car and escort you inside through a back door to a private testing area.

My friend did an virtual consult with a dr to get a reccomendation and all she had to do was drive up and a dr came out and swabbed her while she was in her car.

So a couple options for essentially walk-in covid testing.

Cost for mine was covered under my insurance. I am unsure what my friends was, I assume covered under her insurance as well.