There is one very sweet mama who works at a restaurant we sometimes go to, and I love that she asks dh and me if we're having drinks, and when we say yes, she asks each of our children what they would like to drink. She knows they can have pure juice and not pop, but they hate pop so would never ask. She took the time the first time to figure out what is acceptable to us and trusts our dc to order something acceptable and trust us to interject if it isn't (which has never happened).
This is so rare though. We usually have to ask for place settings too and our boys don't eat kids menu stuff, so we always say something about the menus when we arrive anyway. The hardest part is having to inform and explain in excruciating detail that our children each need a seat- that even though they are smaller than adults, they still each have a bottom they have to plunk down somewhere not on their brothers' laps... So, booth for four doesn't work for family of six.