I live in the centre of a largish city in Europe. Here there's a few supermarkets less than five minutes away on foot, and the last one closes at ten every day of the week. They're also on the way to and from most other places I go. Usually I just buy what I need for tonight and tomorrow on my way home, or go after dinner when I'm likely to want a quick walk anyway.

Of course, I don't have kids and am generally not a very busy person, so it might not work for everyone.