For me it's not been that it's inconvenient to do it without a car, but that it's inconvenient
to do it at all. I used to do my shopping on the way home from work, and the stores were
on my way so they added nothing to my travel time, yet they added
time spent in shops, and I had no desire to keep doing that when delivery options appeared.
I'm in London, and use Ocado, which means if I can't even be bothered to open the app to decide what to order they'll populate the order for me based on my favourites and my past shops. I know I'll get something that's generally "close enough". When I can be bothered to open the app, I have a starting point that's ~90% right. My weekly shop takes me ~5 minutes.
I can't possibly imagine going back to doing grocery shopping - or pretty much any shopping - myself again. Ever. The exception is the very occasional urge, usually if I'm going for a walk anyway, or want something extra. But even most sudden urges is so much more convenient to handle via Deliveroo or similar.
The big out-of-town supermarkets will die soon enough, and be replaced by warehouses. The shift to deliveries has been steady in the UK at least. Small town centre grocery stores might survive to some extent for that occasionally extra shop.
One less reason to want to own a car for me at least.