We live rurally, like many on the forum do, so two weeks without going to town is the norm and a month happens a few times a year, so this advice may not be for city dwellers but I can't find a reason it wouldn't be.
Take your rv to town when you shop.
It's good exercise for the rv and parking is not a premium now.
Make the person who doesn't/refuses to drive the rv drive the rv. Traffic will never be lighter.
You can quarantine your purchases if you're of that ilke.
I think, if your rv is at home, there's no better time to get edumadated, track down rattles, learn to navigate parking lots and stock it with food while taking stock of the stock you need.
We'll do it, if I remember, on our next trek to town, 60 or 90 days from now.