Chili's solved it... I don't like the restaurant too much but their payment experience rocks. There is a payment gadget at the table, so you use that to pay and simply walk away without talking to the waiter.
you can do that with the QR code. It literally just takes you to a POS menu, the same one the staff will use to ring you up. lol. You can use your phone or a physical card, it's no different. The only difference is you're swiping your card thru a terminal vs filling it in on a form, which most phones do automatically.
Chilis didn't solve it. They just added their own hardware.