The shit will hit the fan if you ever have another baby.
At that point he won't know what hit him because right now he is not being given the chance to individuate himself from you and there is no competition for your attention, no sleepless nights to test your patience, and no crying baby whose needs must be met away from the toy shop (or wherever the exploring is happening) immediately.
Avoiding conflict (for instance, in the shop with the toy) means avoiding giving him the chance to start realizing you and he are separate people with separate wants and needs. As far as he's concerned, you are a more dexterous extension of him, the one who gets to drive he car and navigate the way home and provide him food, drinks, and bedrome stories. He needs to begin realizing the two of you are separate people.
I have a friend who brought up her first baby very much as you are now with yours. He had a very hard time when his younger brother came along, and the next baby too. His world was turned upside down and inside out.
The following years saw him test his parents to the limits as he engaged in a great deal of hitting and other violence toward the little brothers (they ended up with three boys) while the parents wrung their hands and dished out hugs and reassurance of their love, leaving the injured little bro crying on his own with big red bite marks on his arms, etc. It was painful to see, and it didn't stop because there were no meaningful consequences for any of it.
The parents decided to just go with the flow and let the law of the jungle prevail, meaning the little brother (and the next little brother) got beaten up and also teased and taunted a lot, and the house was frequently reduced to a bear pit, food thrown, no expectation of sitting at the table for the duration of a meal, drinks poured on younger siblings, crayon marks everywhere, blinds torn down. He was allowed to treat grandparents with disrespect ( running off with sunglasses, hats, car keys, etc). He behaved himself at school.
The parents blithely allowed the kids to watch all kinds of adversarial dreck on the TV (Paw Patrol is an example, and it only got worse as his taste broadened). Adversarial material on TV promotes absolutely no positive values; shows like PP are utter garbage. Even fare like Kratts' Creatures was tainted by the silly cartoon story lines and characters.
Kids like to imagine themselves as the characters they see, and the attitudes they pick up can be very influential. If you're going to continue to follow the parenting path you're on, you need to curate what your child is watching with extreme care, or your child's desire for something to butt heads against will find expression in the adversarial roles he is seeing. Don't assume he will identify with the force of good in what he watches or reads.
Eventually, he was old enough to join organised sports, and the various coaches ended up civilising him. In other words, he ran into rules, rules of the sports he played, and rules of the teams he played on - expectations of sportsmanship and going to all practices and matches whether he felt like it or not, and losing gracefully. All of which should have been done by his parents at home.
Is there something about conflict that you fear?
I urge you to rein it in sensitively before you have another baby, if that's on the cards. He should cooperate with the stroller and the carseat, and he should be able to sit for a meal and go shopping peacefully. There's no need to suddenly start snapping your fingers and demanding obedience, but gentle expectations of sitting for a meal and leaving a toy in a shop on your schedule could be introduced, with acknowledgement of good listening ('good listening' is extremely important, the foundation of all the rest of establishing your authority) dished out when it happens.
You need to work really hard on fostering listening, and you need to teach what listening behaviour looks like - looking at you when you speak to him, responding when you call his name, and remaining with you while he responds. Don't let him ignore you.
It's lovely to feel that the two of you are so close, that you are so in tune with him and his needs. But he has left the womb and his major need in the coming years is to understand that you and he are separate beings. He needs to understand that you have needs that are separate from his and that the wider society has expectations which you need to explain, and offer practice in identifying and gping along with those expectations.