WalMart and many local grocers offer free curbside pickup these days and it has been a big saver for our household. Shopping on the app eliminates the impulsivity as you have to search for each item and add it to your cart rather than walking up and down the aisles and seeing/buying things you weren't originally there for just because they caught your eye. Additionally, you can check what you have as you shop and eliminate duplicates without having to memorize your entire pantry and fridge.
Along the same lines, Walmart ran a promotion where a year of their Walmart+ premium subscription was only $50. That includes grocery delivery if you're within their radius. I spend more than $50 in gas per year if we go to Walmart every weekend in addition to vehicle wear/tear so that was a no-brainer.