have you tried wal-mart pickup? I did it just yesterday and a few weeks ago. All you do is open your trunk yourself and they place the groceries in there without touching anything (and they're wearing medical grade gloves too). Then you close your trunk yourself and that's it. No need to sign anything anymore.

wal-mart only lets people book out 1 day in advance, so there are always openings if you check every single day. the reservations open at 12am daily. you do not need to put anything in your cart online in order to reserve a spot. when you click "reserve time slot," your time slot is reserved regardless. just make sure you have a wal-mart account and that you're logged in in order to reserve.