Chipotle and Starbucks do it with online orders. However, they do that because they are big enough corporations to replace anything wrongly taken for free.
This really varies a lot with where you live. I'm almost an hour out of philly, very solidly middle-class office-y medical/pharma area and yeah, the sushi place I go to (not a chain, local place) just lays out the stuff on the counter for pickup, and you just look at the attached receipt since you actually what _you_ ordered. This would of course be ludicrous to do in some parts of the city itself.