The Target app is the best that I’ve seen for customers. It won’t plan your route, but you can search for items and it will tell you the aisle, location within the aisle, and stock level for any item at your local store.
Kroger app does all that, plus sorta plans your route. You make your list head of time and then you can sort the list by aisles ascending or descending; or store layout or store layout reversed; or by departments; depending on which side of the store you go in or if you want to save cold items for last. Its not completely without fault but overall works great once you get the hang of some of the apps complications.