People probably decried the automation of textile manufacturing, that clothing was losing its personal touch. Now we don't seem to have a problem with it. I'm sure food will go a similar route.
Although I do agree that removing the human element in retail/food will be weird at first, I'm sure we'll get used to it. It's more efficient, so I think it's better.
That empathy that develops through knowing and understanding the people around you is what makes society actually work. The idea that "efficient = better" is one of the most profoundly dehumanizing pictures I have ever seen painted of the future and you do nothing to shake that. Monstrosities like the one you posit are what we should be working to avoid because it makes all of us mere grist for the mill.
The other solution is what is, in my opinion, a sort of neo-Luddite reaciton to automation where we either ban hugely efficient economies-of-scale infrastructures as a make-work program, or a regulation requiring sufficient numbers of humans in the loop.
I think you are really over-interpreting the way I see this. Replacing jobs with more efficient services is pretty unequivocally better in my opinion. If it weren't better, people would keep using the less efficient services that give them some form of empathic pleasure. In particular, I find the allegations of classism a little baseless. I have no problems interacting with those of a lower class, and if they do indeed lose their jobs due to mass automation, I definitely think the government will need to implement programs to retrain them or to provide for their needs a la basic income. But it doesn't make sense to pay someone to do a job that could be done better, especially ones like in food service, just so we can pat ourselves and say that "they at least have a job."
It's not about jobs. It's about people. It's about not encouraging the shrinking of individuals into tiny-little-boxes where they don't have to interact with people unlike them. Epistemic and social-stratifying closures are pernicious and dangerous to society in ways "inefficiency" never, not once in human history, has been.
I'm not necessarily an introvert, but I'd be happy to remove the human element from ordering takeaway, or get it from something other than the phone order and delivery components which I find pretty boring.
But at its logical conclusion, does it risk ending with megacorp/state-mandated food plans delivered to the majority of people?
We don't need impersonal drones delivering your Food Packages so you don't need to see and interact with human beings and maybe generate some flavor of empathy somewhere inside of you. We need the exact opposite of that.