I live with in 3 minutes drive of the local grocery store. I also live with in 2 minutes walk of the store so I tend to walk there instead of drive as often as I can. Walking to the store is more fun.
The unfortunate flipside is walking back from the store. Depending on what I buy. 3 gallons of milk can start to feel like scoliosis. I have in the past, severely overestimated what I can carry back on foot, and other times left alot of things unbought that I really wanted/needed on account of it being too much to carry.
The other night I got smart and took a duffle with me: