To achieve this, you have to follow below steps
1. Define the Picking and Shipping Document set
2. Define a Ship confirm rule and add the shipping document here.
3. Define a a Pick Release rule
(Make sure Auto Pick Confirm, Auto Create Delivery, Auto Pack Delivery are set as Yes)
4. Add the ship confirm rule in the shipping tab
5. Add the Picking Document set in Pick release rule
6. Make sure Auto allocate is Yes in Inventory tab.
7. Now use "Release Sales Order SRS" and Schedule it as per the frequency you need for the Pick release rule you have created.