If I could have "near-perfect" online shopping for a $5-10 delivery charge... Sure. The one time I've really tried it was when I had a broken foot and doing a full grocery shopping was a PITA. So I used delivery. I'd get most of what I needed with some questionable substitutions. But that was mostly OK because driving to the store and picking up a few things in a shoulder bag wasn't a big deal. Just a full grocery shopping was.
I haven't even tried in the current situation. If I go relatively early on a weekday, I find it pretty manageable and uncrowded.
You're describing what Peapod always was for me, for the three years I had it. I'd still be using it if they hadn't stopped delivering here; they spoiled me to the point I'm not even going to try Instacart/etc.
The one exception was that you couldn't choose your own substitutions, but you could toggle whether to get the substitute or just not get that item (so at least you don't waste food if it's something you really don't want).
Peapod was what I used as it was the only thing available where I live until quite recently.
It wasn't terrible but, for me, it didn't really end up eliminating the need to go to the store which under normal circumstances pretty much eliminated most of the value.
That's basically what Amazon Fresh is. $5 or $7 delivery tip (I leave what they suggest), no extra fees assuming you've got Amazon Prime, and comparable prices to in-store at Ralph's. I very rarely have things out of stock once I order, produce is generally good, meat has been great. I think the warehouse-direct-to-consumer style is the way to go, rather than shopper-goes-to-store-for-me style. Peapod, in the sibling comment, is another similar option.
I haven't even tried in the current situation. If I go relatively early on a weekday, I find it pretty manageable and uncrowded.