I will use disabled bays in Tesco if it is late (majority will be free) as I have difficulty in walking but haven’t got through the lengthy and quite arduous assessment processes for PiP and a Blue Badge. This means I can get to the first food aisle before my knee gives out. I wouldn’t do it in daytime because the chances are I am likely to obstruct someone with a registered need.
You can use disabled spaces in car parks as you don’t need a blue badge to use one. Anyone classed as disabled can use them if it meets their needs. If you really don’t want to use them then use parent and child ones. in tescos these seem to be the closest and more of them.