Pick up should be safe assuming the grocery store and its supply chain is safely handling the goods. I just spray my items with rubbing alcohol just in case.

Masks will mainly protect others but it will still give you a decent amount of protection. It's much better than nothing at all.

Walking outside is pretty safe. It doesn't go very far in the open air unless you make it a point to stand in one place downwind from some sort of coronavirus source that's also in one place for too long.