Not really. US is a large country with a large range of cost of living.
Where I currently live, it's below median. The store nearby often has great sales.
The basic stuff you listed cost about the same. $1 pasta. Bananas 59c/lb etc. Chicken thighs 45c/lb on frequent sales. Legumes are cheap everywhere.
If you cook for yourself with traditional ingredients, food is highly affordable in US. The low income people have food banks and get money from the government. Food is perhaps 2% of my expenses unless I need to eat out at work.
Unfortunately, ultra processed food consumption is 55% of caloric intake in US. It's much worse in the young.
https://ancillary-proxy.atarimworker.io?url=https%3A%2F%2Fwww.npr.org%2Fsections%2Fs...
Even as a busy professional, I cook for myself (about 3 times per week) and have my teen waist line and weight in late 40s. BMI is 21.4. Normal and basic food is inexpensive. I don't specially exercise. I just walk rather than drive.
However, even those on food assistance buy a lot of prepared and processed food. Whenever I ate processed food, I gained weight fast, even when I wasn't buying sugary stuff. I just avoid buying prepared food and include enough vegetables and fiber in my diet. My carb intake is only complex carbs. US is not protein deficient at all, but vegetable and fiber intake are inadequate on average.
That's all it takes, some basic common sense about diet. Food is very affordable in the developed world.