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So the big question is how many groceries are you grabbing at once?
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This is definitely the question. the most efficient way to carry a large , and heavy load might be a trailer, but if you are going to carry 5 or less paper bags worth of groceries at a time, you might want to consider a Vetter style tail. I am currently working on making tooling so that I can make mine easily repeatable, and it will carry five full paper grocery bags. that is almost a full standard grocery cart load. it also seems to be more than enough for all the gear necessary for a camping trip. if you only need to be able to go 55mph, you could pair a 150cc scooter with a tail like mine, and it would be no problem. My SR185 does 85mph in the streamlined bodywork, and I get around 100mpg.
Just my $.02.