As a fully capable person I can't stand being waited on. For me the peak ordering experience is I choose an item from some written menu with prices on it, ask for said item and pay exactly the price written on the menu. Then I either take item immediately or come to collect it later to take it to the table myself.

When I want to leave I just get up and go without the stupid ask to know how much I need to pay then ask again to actually pay with expectation that I pay more than what was asked like it's my choice to pay but really it isn't.