My wife and I have had groceries delivered probably a dozen times and it's kind of nice honestly. I personally hate shopping, especially in crowded places, and the store that delivers for us always seems cramped and packed.
We don't buy anything we would want to personally pick out (produce, meat, etc.) but having someone bring big / bulky stuff like toilet paper, cat litter, bottled water, etc. along with our monthly staples (canned goods, pasta, frozen goods) is fantastic. Not having to push a cart through hoards of people is worth the surcharge alone, but avoiding lugging all that stuff up to our apartment might actually be better.
When we need fresh stuff, we just run out to the smaller, less-crowded store and I'm out in a couple minutes. Doing it that way also cuts down on waste, when we would make big grocery trips and buy a bunch of produce at once it'd end up going bad before we could get to it.