I actually find going more often makes it SOOOOOO much easier, plus we have better foods to eat.
I switched to twice-weekly trips from weekly trips, and..OMG! It is SO easy. the reason? I am only buying 3 days worth of food at once. So I only have to plan 3 days worth of meals, the trip is shorter, easier, there are fewer bags to carry, and we have fresher, healthier foods (I used to throw away so much fresh produce, for example)
I know this is in the F&F forum, so I will say that from a frugality standpoint, it wasn't quite as economical, but in all other ways, it was soooo much nicer, easier, better.
I'm not sure where you go, but I used to shop at night if possible..like...10pm-midnight. Nice empty store. but now..i like people in the store. I find shopping fun. but even if you don't/can't go to that extreme...there are always going to be busy and less busy times...like..saturday morning? Couldn't pay me to go near the store. Tuesday 9am? So much easier!
I found that simply re-framing my concept.idea of the trip.
Instead of viewing it as a "chore" to be done as quickly and efficiently as possible. I look at it this way. Right now, by choice, my job, my life, is being with my kids. Sometimes we are playing in the house, sometimes we are at the park, sometimes i do laundry, sometimes we read, etc. sometimes...we go shopping.
I make it a fun family event. We go with no time pressure, and without that feeling of "i gotta get this done and get home as quickly as possible" Instead, we meander..talk abotu the foods, stop in the cafe for an ice cream cone or otehr snack...
now, i realize some situations (a colicky newborn, child who hates riding in the cart, etc) might make this more difficult for some people....but i thin most can make it work.
for thisoe 2 hours..or 1, what i am DOING is shopping. It isn't just a means to an end..it is an experience i an having during my life, one i am frequently sharing with my children, and these daily events are the things life and memories are made of.