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My system is that after I unpack the shopping at home, I leave the bag beside the front door. Then next time I go outside I see it like “Oh yeah, the bag!” and put it in the car.
Works for me.
I end up with a pile of bags by my door that “I’ll pick up next time.”
Yaa or carabiner (at least) one to car keys as the reminder - when they don’t fit in your pocket that can be the sign to grab them all and bring to car
