I do a lot of grocery shops as my staple ms-ing. I feel it's worth it, because I have to grocery shop anyways, as it's an essential of life. I don't find I lose that much in terms of gas money and time usually, as a result. Occasionally, it can even be therapeutic and relaxing (plus you get exercise from walking).
However, those "super" stores - the super versions of Walmart, Kroger, Whole Foods (this one is arguable maybe, but the WF near me is always packed really bad that it's shoulder-to-shoulder shopping), etc. - that are like the size of an airport with a billion employees all over the sales floor are scary. I've never done one, but have considered it.
Are there any approaches to make these easier for people who do them? And do you find them more easily bonus-able? Are there certain days/times that people shop less and you can get in and out of there relatively quickly?
On a random note, Lidl looks like a really EASY grocery shop!