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My son wrote the following sentences about shopping.
We do our shopping at Morrisons. I help my mum pulling trolley.
We buy food, fruit, milk and vegetables.
Should he have used "foods and fruits" instead singular in this context?

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JigneshbharatiWe do our shopping at Morrisons. I help my mum to push the trolley / by pushing the trolley.

Normally we push, not pull, a trolley. "help ... to push" means that he and his mum push together. "help ... by pushing" probably is understood to mean that he does it alone.

JigneshbharatiWe buy food, fruit, milk and vegetables.

Fruit and vegetables are food.

JigneshbharatiShould he have used "foods and fruits" instead singular in this context?

No, that would be odd here.

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Why can't we use "we go shopping" in our context? We were writing sentences about the topic- Shopping Why can't we use "we go shopping" in our context? We were writing sentences about the topic- Shopping
How do we know when to use go plus verb-ing?
I didn't know the difference between "do the shopping" vs "go shopping"

JigneshbharatiWhy can't we use "we go shopping" in our context?

Who says that you can't?

JigneshbharatiWe buy food, fruit, milk and vegetables.

You could write that you buy fruit, milk and vegetables. Another possibility is to add the word including before fruit.

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The word fruit is much more common than fruits.

Clive