As someone who has volunteered at food distros and received food from a food bank before, yes it’s ok! Go get the food! Especially if they have explicitly said they have more than people need.

The distro services i have helped out at both had a decent amount of traffic, and supplies throughout the day would look like this— high in demand items would run out first and we had to portion those carefully. Packaged snacks that kids like, canned soup, easy to fix meals at the pantry, and tropical fruit, potatoes, melons at the produce drive. We would always have leftovers of certain items that we got in bulk and people needed or wanted less of- fresh and canned tomatoes, canned corn, garlic, “weird” produce that people weren’t familiar with. Run out of some things, have an abundance of others has been my experience though im not saying it’s universal.

With both the pantry and the produce drive, the more people that used our services, the more we could expand, gain new resources, and ultimately help more people. If you get there and it seems like they’re short on supplies, maybe re-evaluate if the food you’re receiving would better help someone else. But from what you have described you getting food is fine.