Had a last minute business trip and got processing in 3 days shipped at my door. They offer same day, I believe, in very select locations. Like DC, Denver, Minneapolis or Chicago, etc. You need documentation and proof of travel and justification IIRC.
I basically printed out the entire email chain switching my coworker's plan to having me go instead just in case.
Yes - I did a same day in Miami in 2016 after leaving my passport in a taxi (remember those?) on a business trip, just a week before my sister-in-law's wedding in Vancouver, BC. Doh. Made the appointment, drove down the next day, had a nice lunch, and drove back home with my new passport.
(The taxi company claimed they didn't have my old one, but it randomly showed up in the mail a couple months later.)