Two thoughts there. First, my partner and I always send one person to the store, so that we don't have to load up the kids or deal with them in the store.
Second, I think that this shopping experience you describe is a uniquely suburban experience. Going to Target is indeed awful. But, where I live in the city, it's a reasonably pleasant 10 minute walk to the neighborhood hardware store, which has had the same layout for probably 30 years, and you can be in and out in a few minutes. Grocery store is an even more pleasant 5 minute bike ride, and it's also a human-friendly size and easy to get through fairly quickly. Shopping for clothing is still awful, but shopping for clothing is inherently awful but thankfully infrequent.
At my partner's folks' out in a small town, I guess some people do drive an hour round trip to the nearest big box store, but I've always liked that it's a short hop into town, and all the stores are reasonably sized and within a block of each other. With the town's park just a couple blocks away, so we can take turns hanging out with the kids in the playground while the other goes into the store. I guess we don't have as many options, but I'm genuinely happy to choose convenience and happiness over a selection of 73 different kinds of breakfast cereal.
Similar when we're visiting my mom, also in a small town, except that the playground is unfortunately on the complete other side of town from the commercial district.
Then, at my dad's house in a suburban community, it's nothing but big box stores and misery.