If a grocery store is within walking distance why not make a trip of it with the whole family? Many hands make light work. Or, just because a city is human focused instead of car focused doesn’t mean no cars at all (at least in the way I would implement it) you could rent a car for a few hours every couple of weeks.
Obviously these ideas won’t work for everyone but they’re just off the top of my head, and unfortunately there is no system that will work for everyone. We just have to try for works better.