If you live near a Wal-Mart Super Center, have you tried doing Wal-Mart grocery pickup? Might be less stressful than going to the grocery store. They all use gloves and it's contactless.

Since Wal-Mart only allows people to book out 1 day in advance, you don't have to worry about them being booked out for weeks in advance like most grocery delivery services are. Just register an account online and then reserve the appt before you put anything in your cart.