I was working on a drive thru prototype for a coffee chain so I've got experience designing drive thrus in case this idea catches on.
Now that I think about this could work. Don't think about it as like a fast food drive thru but think about it as a Sonic with individual car stalls and each car stall has a booth with a dancer inside. You can tip the dancers through a card system or if you don't want those charges on your card could do bill collector like you see on vending machines.
