It is theoretically possible to get it through touch, but far less likely.

I'm cautious about washing hands, but I've never wiped down or quarantined my shopping.

For reference (so you can judge the level of risk I find tolerable) - from March - the end of August I was out of the house no more than a dozen times, and a third of those were to go biking. I've never not worn a mask out of the house (aside from in my car driving or in my private office at work) - and that includes wearing a mask while biking on a local trail.

When my spouse does something stupid, I sleep on a recliner in the living room rather than share airspace in our relativley small bedroom. I skipped a family bridal shower, and attended a wedding reception only after they rearranged the tables so our family was seated 6' apart at a separate table from anyone outside of our home (the basis of my consenting to go).

I've eaten out 3 times at outdoor restaurants.

Currently I am teaching in person (JD program) - the school requires masks and there is 100% compliance (the rule is that if you don't have a mask on, you will be invited to attend remotely. that rule has been enforced).