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You don't. The iCal sync is designed as a way to get your data onto a mobile device that isn't an iPhone, and to do so in a context-based fashion so that you can pull out your device, pull up the calendar that corresponds to your context, and look at the available actions. You're trying to make it work in a project-based fashion.

If you treat your errands as a context (or set of contexts) instead of a project, it makes more sense from a GTD standpoint. The place where you need to be to do the errand is the context. Nothing fundamentally wrong with putting work-related tasks and personal tasks in the same context. If you really want them separated, you could make duplicate contexts Errands-Personal and Errands-Work and assign tasks to one or the other and sync them to separate calendars.

Does that make sense?