Most stores have a one way system, so you park up, go to collect your trolley - some have "wash stations" for the trolley handles, some do it for you, some spray the handle with sanitiser before they push the trolley towards you.
If the store is big enough, you will go in one door (or one side of the entrance/exit) and leave by the other door/side of the exit. At busy times there is a queue with everyone 2 metres apart, they let each person in as another person comes out. To avoid this you need either to turn up at 8am (assuming this isn't a protected time at your store) or go later, say around 5pm or so. Going later everything is quiet but you face not getting everything you want as the morning rush will have depleted toilet rolls and so on.
If you are wise, you can prepare before you go. Make sure you have plenty of bags. Wear gloves, no-one is bothered about latex gloves these days or just use ordinary winter ones that you can put in the washing machine when back home. It means you can hold door handles, trollies etc without worrying about germs. Don't touch your face AT ALL. Put your bank card in a pocket beforehand at home so you are not fiddling with a handbag/purse/wallet at the till. You can wear a mask if you wish but not everyone has access to those. A scarf wrapped around the lower face is fine if it makes you feel more comfortable.
If someone comes towards you pushing their trolley, step back or out of the way and let them pass. Anyone standing too close in the queue, do not be afraid to say 'please stand further back, you're too close'.
Once you get your goods to the car and loaded, take off your gloves. Sanitise your hands if you have some in the car.
Back home unload everything and then wash hands thoroughly. Sanitise or clean down stuff you have bought, especially items which will have lots of touch, such as handles of milk cartons etc. Sanitise or wipe down your shopping bags, handles and the base particularly.
Works for me!!