Anything you can do to improve your balance makes sense to me. When I was leaving for the dialysis clinic this AM I found my wife outside weeding, wobbling around on the uneven river rocks. She should have waited for my son to return and put him to work. This is a problem dealing with loved ones who get impatient with chores. She's always done the gardening herself (not my thing) but this situation presents a potential danger of falling, especially when backing out.
My walker is in general satisfactory except: it rolls too easily making me stress my arms and torso keeping it located relative to my posture. I start with it positioning myself forward, but after a while I'm behind the walker. Not sure the best way to approach that issue. It is sturdy and I can sit on it when tired and it holds as much bulk as I care to walk with. Since I have recuperated, I'm not using the walker and walk normally without aids. It is not as compact when folded as I would like-think folding step stool. The basket could be cloth. It's important to locate the rear wheels back far enough for stability and that the wheels should be sufficiently large to negotiate uneven paving. Those two-wheel folding frames are dangerous in my opinion, but they are compact. When I was recuperating from abdominal surgery, I certainly wasn't concerned with looking geriatric. I would guess that when you feel the need to use a walker or wheel chair, stigma takes a back seat, besides, you can get a handicap tag for your car. You mention that Whole Foods designed their own shopping cart/walker? That seems a wasted effort, as pushing a normal shopping cart gives plenty of support in my experience.
I should mention that I speak for that segment of potential and actual fall prone people that aren't otherwise disabled but because of distraction (and we have more than enough of them) , inattention and occasionally being asleep at the wheel, take a tumble. People who aren't sedentary (who, me?) tend not to fall in my opinion because their muscles and joints are functioning well, but we tend to become lazy with the excuse that "I need to check my email" and get trapped in that internet time suck which leads to atrophy of not only the body but the brain.
A neighbor in his last years and living alone fell and couldn't reach his phone, which was a land line. He was on the bedroom floor for more than 24 hours I was told but fortunately his son checked in on him before it was too late. That's not the kind of rescue I'm looking forward to. Another neighbor, trying to achieve her 10,000 steps managed to trip on uneven paving near her house a couple of times a year, sometimes injuring herself pretty severely. Her problem was not picking her feet up as I observed. Closer to home, my wife had several falls by over reaching or running for the phone and slipping on a throw rug, which opens up a subject unto itself. Hazards aside, remember, you're not as agile as you were a few years ago.