Sure I've gone to restaurants. And you order by saying "I'll have a number 4 with fries and a large soda.
One of the fun things about going to a restaurant is finding something on the menu you don't recognise and ordering it without asking what it is.
Worst restaurant experience? I went to a restaurant that specialised in venison and, around the wall, they displayed the heads of dead deer. When my meal was served I look up at this big vuck on the wall and he said, "Are you really going to eat that?" I nodded my head, too ashamed to speak. "But you're not going to enjoy it, are you?" And he was right. I've never eaten venison since.
Yeah I go to the restaurant an order from the waitress or waiter. Unless they have a drive thru so sometimes I gotta talk through that.