Yes Amazon does usually reimburse stolen packages as long as the package tracking shows delivered.
Especially if Amazon delivered the package themselves to your door and it's been stolen then Amazon will usually refund the money or send out a different package.
When you have an Amazon package stolen you need to file a police report and let the police know the Amazon package has been stolen.
Then contact Amazon customer service and let them know that your package has been stolen.
Amazon is not legally required to reimburse you for stolen packages but they often will do so just to keep your business.