Tipping for pickup

Hello! I usually get my grocery order delivered. Today I picked it up for the first time- is it expected to tip the people who bring the bags to your car? I absolutely want to tip if that's the protocol but I wasn't sure.

EDIT: Clarifying that I'm asking because I thought I saw the person in another car give some cash to the Shoprite worker who brought their order out but I couldn't tell. I'm super awkward and just didn't offer her cash and then overthought whether it seemed like she was expecting something. I realize now that I probably should've found a way to ask.