In the UK most supermarket chains have delivery, with charges in the ~5 pound region ($6 or so), but most also have Prime like subscriptions. E.g. I pay about $110/year to get my shopping delivered from Ocado - this includes unlimited "free" deliveries of orders above $50. Since we take delivery once a week, it adds up to just a bit above $2/delivery.
Best part is the convenience: We've set it up to deliver once a week, and so every week the day after the previous delivery they create a new order and we can edit it in their app or on their website, and optionally you can set it to auto-populate your order based on your shopping history, and they get it "close enough" that often we don't bother even checking the order (this week, for example, I didn't) and we know we'll get something that's "close enough" that worst case we'll pick up the odd thing extra when we're out anyway sometime during the week.
They deliver within the same 1 hour slot every week (unless we change it; if we do, they will show us when they have a car in the area if we want to try to be more eco-friendly, but won't put any restrictions on us if they have capacity), and it's very rare or them to miss it - when they do, the driver will call and explain why and give us updates. If they're able to deliver early, they'll call and ask, and if necessary (if we're out etc.) they'll do other deliveries first if they can or worst case sit and wait to deliver within the agreed time slot.
They'll carry everything into your kitchen if you wish, or wherever you want them to, and everything comes in colour-coded bags for freezer, fridge, and cabinets. The receipt list everything by minimum guaranteed use-by dates.
The precision in delivery makes all the difference. I rarely go into grocery stores any more, and I don't miss it.