Print out a single day guest pass from Sam's Club's website.
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The guest pass allows you to shop at Sam's Club without a membership, but you'll be charged a 10% service fee. California, South Carolina, and Elmsford, NY are exempt from the fee.
Like alcohol, prescription-drug sales can't be limited through a club or a membership, meaning anyone can use the Sam's Club pharmacy to fill prescriptions and buy over-the-counter medication.
Members are allowed to bring up to two guests with them when they go to Sam's Club. Only members can make purchases, however, so you'd have to pay them back for whatever you buy on your trip.