Can you do groceries delivered to your house? If not, have you considered using Wal-Mart pickup/delivery? Wal-Mart only allows you to book a pickup or delivery appointment one day in advance, which means that Wal-Mart isn't booked out for 3-4 weeks like most grocery delivery companies are. If you wake up at like 4am or 5am, there are usually openings. I know that's early, but if you really need something groceries wise, set an alarm for 4am or 5am. Then make sure you have an account with Wal-Mart so that you can reserve your pickup time before you even start putting things in your cart.

I did Wal-Mart pickup and it was fine. They all wear medical grade gloves and they put the groceries in my trunk without me touching them. It was contactless, except for the fact I had to sign their scanner thingy with my finger to verify that I'm picking up my groceries.