Yup, wipe them down everytime. If the store is out of wipes, I carry hand sanitizer and kleenex so I use that to wipe them down.
The stores here no longer "sterilize" the cars like they used to.
Fingers crossed, the hand washing, sanitizer, masks and social distancing I started in 2020 have served me well. Not only have I not gotten covid, but I haven't had a cold or any upper respiratory infection or other illness since 2019. Mom was right, WASH YOUR HANDS.