If you don't want to deal with the haggling then I have found two good options:
My bank offers pre negotiated prices on new cars that are decent and well under the sticker price.
You can also get the current Consumer Reporte car guide and walk in with that in your hand. It has the invoice price and recommends a fair price for each model. This gives you a much stronger position.
Costco offers a similar negotiation service. The prices are good, but it is limited to fairly popular models and specific dealers. It seems like a good tradeoff if you find the usual negotiation painful.
My bank offers pre negotiated prices on new cars that are decent and well under the sticker price.
You can also get the current Consumer Reporte car guide and walk in with that in your hand. It has the invoice price and recommends a fair price for each model. This gives you a much stronger position.