People only "want" to drive the ten minutes to the grocery store because that drive would be a half hour bike ride or a 90 minute walk. But they'd much rather the grocery store be a ten minute walk away.
I really don't think most people would choose to carey groceries for 10 minutes. I'd drive a half hour as opposed to carrying groceries for 10 minutes.
There's a feedback cycle here. If it's long and difficult to get to the store, you need to buy a lot to make it worth the time. If it's easy and quick to get to the store, you don't need to buy nearly as much. Carrying a single small bag of groceries for 10 minutes shouldn't be a big deal.
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