I feel like you might be over-thinking this. If it’s a recent thing then it’s most likely just a phase and he’ll grow out of it when puberty kicks in. One my best friends has an 11 yo and a 4 yo and they both end up in their parent’s bed pretty much every night. There is nothing weird or unusual about a child sleeping in the same bed as their parent/s, no matter what internet hacks try to tell you.
My nearest store is about 3km away and I will usually walk there unless I’m picking up anything especially heavy or bulky.