In my experience, get there as early as possible and it's not bad. But that's the standard for these membership stores, although Sam's Club has the edge being able to use their app to scan your items and pay without having to stop anywhere (other than the line to get out.)

Publix' pricing is obscene though.

I have a Sam's Club membership primarily because it is much closer to me than Costco. I hate the crowds but it baffles me there are lines when the scan & go app exists! And I swear last time I went they weren't even scanning receipts, but you walked through some sort of gateway?