I use to but gave in due to short dates and poor quality fresh produce, tried Tesco and Asda as that was all we had at the time.
I now do the bulk of my shopping in Aldi and the local butchers/green grocers. There's a Home Bargains next to the butcher's so I get toiletries/cleaning products etc from there.
Both boys come shopping with me, at the shops I park in a free car park across the road, the Aldi is just down the road from the shops. Including the school run it is a 2 mile round trip. If it wasn't for the amount of food/drinks I'd walk. In Aldi Aidan pushes the big trolley so I can control Callum as he won't sit in the trolley. We have a toy trolley he takes with him and I'll fill it with non breakables.
I just throw all the shopping in the trolley at the till and arrange it in bags at the car once Callum's belted in with his once weekly chocolate buttons. Aidan then takes the trolley back and gets to keep the pound for helping.
Back home I grab the fridge/freezer stuff and the rest lives in the car till dh gets back from work. If I'm working Phil gets to do it