It's not just churches doing this work but the "numbers" you mention don't "say" anything. Granted, churches and volunteer organizations would have a great deal more money if Uncle Sam would lighten his burden, but you have no idea what the organizations can do. You've acknowledged that when you asked for someone to show you what they are doing.
Meanwhile, our Fed govt is in immense debt that no other organization could ever legally get away with and you question why efficiency matters and why real people "on the ground" should be doing this.
Never mind the social implications that come from this where people come to "expect" money from the government that they would never expect from another source without at least attempting to perform work.
Then, you have the audacity to shame a McDonalds job as if it's too good for people to do. It's a JOB. Anyone actually doing a job and caring about it is to be applauded. Not everyone is going to be a doctor, scientist or financially successful entrepreneur, so not everyone will make the same cash, but there's absolutely nothing wrong with working the job at McDonalds. It's a job, take pride in it.