Platoons, vehicles that travel very close together acting as one, promise to improve road usage on freeways and city roads alike. We study platoon formation in the context of same-day delivery in urban environments. Multiple self-interested logistic service providers (LSP) carry out same-day deliveries by deploying autonomous electric vehicles that are capable of forming and traveling in platoons. The novel aspect that we consider in our research is heterogeneity of platoons in the sense that vehicles are equipped with different capabilities and constraints, and belong to different providers. Our aim is to examine how these platoons can form and their potential properties and benefits. We present a platoon forming and routing algorithm, called PFaRA, that finds longest common routes for multiple vehicles, while also respecting vehicle preferences and constraints. PFaRA consists of two parts, a speed clustering step and a linear optimisation step. To test the approach, a simulation was used, working with realistic urban network data and background traffic models. Our results showed that the performance of our approach is comparable to a simple route-matching one, but it leads to better utility values for vehicles and by extension the LSPs. We show that the grouping provided is viable and provides benefits to all vehicles participating in the platoon.