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Yes, but my grocery shopping entails picking up a few things a few times a week. I don't do some big trip because 1) we live in a city where we just walk and 2) I don't really cook
I do one larger grocery order maybe once a month. Where I order bigger items (like a case of water) and replenish any necessities that we are out of. And then I add whatever I would normally run out and get that week (milk, cheese, etc)

I remember my mom taking all 3 of us to do her big weekly grocery trip. We were awful and it both makes me want to apologize to her and to never do that myself.

I did until he was a little over a year old and then after that I stopped unless DH was with me. He was just too squirmy and screechy and I had to give him endless snacks to behave.