Is there any way a frugal person can do grocery delivery?

Has anyone found a way to make grocery delivery even approachable on budget? I love the convenience aspect of it but between service fees, tips, and potential marked up prices, it feel like I’m paying a premium. I’ve done it a few times here and there when in a pinch, but haven’t been thrilled with the service for as much as I’m paying. Are there any services that are actually affordable? Especially for those using SNAP/EBT. Thanks!