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The 22-year-old man was parked in Arcadia Road shortly after 2.25pm last Wednesday, November 14, when a van pulled up alongside him.
There were up to three men inside.
One of them got out and pulled the victim out of the driver seat of his delivery van and drove it off.
It was found a short time later in Wick Road. The mail and parcels inside had been stolen.
Police have only today released information on the incident.
Anyone with information is asked to call Chelmsford CID on 101 quoting reference 42/166640/18.
Alternatively, contact the Crimestoppers charity 100% anonymously on 0800 555 111 or use the anonymous online form at Crimestoppers-uk.org