Yes - this has been demonstrated several times in the lab. While surfaces can contain live virions, unless you're literally licking the cardboard or the grocery bag, you're going to transmit it via your hands - and your hands are only in contact with such objects briefly. Then, you have to skip washing your hands after handling possibly contaminated items, and then you have to touch your face a lot (preferably stick your fingers in your mouth or up your nose!)
So it would be rare for most adults who exercise such regular caution and wash their hands after handling objects such as groceries.
In other news, the CEO of Modern says there's no objective evidence that the vaccine will stop transmission of COVID. Since we know that many people transmit asymptomatically (they are passive hosts of COVID, they show no signs of actually damage or symptoms of the disease), it is possible that the vaccinated can still pass on COVID, which is why Fauci is saying vaccination is not a perfect solution - especially if a lot of people don't get the vaccine.
SO, upshot is that those of us who get vaccinated can be very confident we will not get sick, and we will not have lung or heart damage from COVID. But we cannot be confident (yet) that we won't pass it on to others. At the same time, the evidence seems to say that very few people are reinfected by COVID or that asymptomatic people keep getting COVID or that these people are ready transmitters of COVID. So there's still optimism that the vaccine will, indeed, prevent people from constantly acquiring COVID asymptomatically and passing it on.