Why not search for the books you are looking for online? Then you don’t have to see everything out there and you don’t have to see what you are trying to avoid.
On the other hand, a store like Barnes and Noble has books laid out according to category and they are very helpful. You could probably go right to the section you are looking for without having to wander through the entire store.
Either way depending on what your needs are I would suggest that a parent go on a field trip themselves before taking their children with them so they can decide whether or not they feel the store is age appropriate or spiritually appropriate for the child in mind.