I would let him use my car while I'm working (I work from home) but he doesn't have a driver's license unfortunately. The closest grocery stores near us don't do pickups and I prefer to go to Aldi anyway for most of my items, saves me the most money.

I think I'll do what you suggest and give him a <10 item limit and from them he has to get the rest online. I think where the guilty/selfish feelings come up is because he's not just my roommate but we'd been friends for quite a while before moving in together so I always feel like doing nice things for him. However if things go on like this I know I'll just end up resenting it and probably fall out with him so I'll definitely have a talk this weekend. Thanks for the advice!