Really? Around where I live Peapod, for example, is <$10. I don't use it but, if I otherwise liked it, that doesn't seem unreasonable for someone to pick your order and deliver it to you.
Don't know about the US, but I live in a 300K inhabitants city in France, we fetch everything on a bicycle and have heavier items delivered for 10€ which is much cheaper than having our own car, factoring in maintenance, insurance, etc. Might soon get a cargo bicycle to be able to fetch heavier things myself without relying on delivery service.