Pre packaged goods will mostly be ordered online: anything people currently buy with feeling the need to physically inspect first.
Some people may buy fruit and vegetables sight unseen. I would suspect there would still be a sizeable market of people that won't and will still go to markets or stores.
I'm not sure if this means a return to smaller, specialty stores or if only big box stores that have everything in one place like Walmart, Will Survive.
I spend some effort to make my house "perfect". Clean, fully stocked with groceries and bathroom supplies and everything like that.
At night, while I sleep, a robot or team of robots goes through my house to reset everything to it's "perfect" state.
It'll tidy up, wash the dishes and put them up, do the laundry in the laundry hamper and fold it when it's done. It would even order replacement supplies that are getting low, get them off of the front porch when a drone drops them off in the middle of the night, and put them up.
If a person sleeps lightly maybe the robot would do this during the day when the family is at work or school.
I'd love to see a more widespread version of something a company here has done and something that would be cool to have - I tap on my phone what I want/need and pick it up on the way home. They have only 1 location for now which makes it suck, also their mobile app is a react app that lags a lot.
I assume people will still want to go to the store (me including, it feels relaxing to have a walk around, thinking about different combinations of food, discovering new things) and I'd love for that store to be something like the Amazon's new store.
I envision a lot of specialty stores and return of manufacturing - the more we go towards certain things being common, the more "handmade" or "manufactured" ones are appreciated.