Negotiation is just the most 'complete' process of price discovery, i.e. where both parties have a say. Like OTC trades vs the auction or order book model with makers and takers.

You don't negotiate as a customer at Walmart, you take the price or leave it. It would be inefficient to negotiate, who would you negotiate with anyway? The checkout machine? But Walmart has to compete with other chains, and that competition is implicit negotiation, because if you don't like the price, you go to the competition.

In my culture there isn't much negotiation when it comes to small value items, but there is negotiation when it comes to bigger decisions like rent, salary or house sales. When I was buying my current home, I actually put in a higher offer than the asking price, because that was the market here: if I hadn't, someone else would have outbid me; I'd already missed one opportunity and didn't want to miss this one.

We have a lot of immigrants from the Middle East / Asia, where there is a strong negotiation culture, and they run a lot of small grocery stores and stands at street markets, where negotiation is more commonplace. I don't usually start negotiating, but when I say something is too expensive, they will sometimes come out with an offer.