If you are careful and frugal it is not at all hard to stay below $20 and even $10 for a home-cooked meal.
(note: my wife and kids are not big eaters)
Tonight, I got a small whole chicken on sale at Krogers for just under $6 (+ 1 onion & 3 cloves of garlic <$1), salad ingredients <$4 (lettuce ~$1, tomato ~$1, carrots <$1, grated cheese <$1), 3 baked potatoes ~$2, ~$1 homemade kimchi (1/2 cup each for my son and me) + ~$0.50 worth of milk for each of 2 kids = ~$15
Upgrade the meat to beef and the salad to broccoli or edamame and the price tag can easily top $20, but that is still quite a bit of fresh nutritious food.
PS - my mother-in-law did not like to cook or eat and, once when visiting for Thanksgiving or some other holiday, and cooking a large meal for the extended family out of town, I had gone to the store (<1 mile away, so no great expedition) for about the 3rd time in one day, she said "why do you keep going to the store? - I could go a month without going to the store" (not true, of course) but I blurted out, without diplomacy "So, don't you like fresh food?"
But we had never gotten along anyway.