Store a few bags in your car somewhere. My car always has 2-3 reusable bags tucked somewhere in there. Once I'm done bringing in whatever was in the car they get hung up by the door so the next time I go out to the car I take them back out to the car so they're always available.
Yes, I am well aware. But with kids and multiple adults sharing cars life happens. So I am still often stuck in stores without any sort of bags. I don't mind paying for them or using paper, but increasingly stores in our area have nothing except for totes.