"City" is an optimistic word for where I am compelled (by familial duty) to live. But, we need to plan for my density, too. Otherwise we'll still have millions of cars on the roads and they will need somewhere to park when they visit the city.
When I visit a real city, I don't mind paying for parking. I'd prefer not to have to pay for parking to get groceries each week, but that would probably be fine. But biking is not reasonable, and mass transit is unavailable.
I'm not trying to get groceries from a gigastore. This grocery store building has been there since I was a child in the 80s and while it is bigger than the store my father used to run, it's less than 20% the size of the WMT supercenter down the road -- half the size of the grocery section of that "gigastore" (it's not a max size supercenter). But, it is the closest produce section. You can be shelf-stable stuff from the dollar store(s) much closer, but I do sometimes need produce and I'd rather shop at this locally-owmed location than the chain dollar stores. (I don't even this they are franchises, just corporate owned.)