For groceries I, personally would use Instacart rather than Doordash.
I fear that Doordash drivers are used to picking up at restaurants (a bag with my name on it), and might not do a good job if they had to go through the grocery store and pick out my groceries. (I'm sure some of them might be fantastic, but I'm not sure all of them would be.) Instacart drivers are more likely to be used to doing grocery shopping for other people.
Walmart delivers through its own Walmart+ app. You can check to see if you get a free trial.
You also can check to see if you can get a free trial on Instacart.
Target has you either join an app or charges a one-time delivery fee. They also might have a free trial.
If you do a free trial with any of them, you can use them at home before or after your trip. Just don't forget to cancel before the free trial ends, or you might get charged for a one year subscription.