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and turn it into a multi-minute (...) suggested upsellsThis is how the restaurant chain deploying those kiosks sees it.
> the restaurant saves having to pay a person at the counter to take the orders, at the expense of massive customer frustration to the point where I hardly ever go to these places anymore
This is self-correcting over time, as more and more places adopt such systems. It's just another supplier-driven market. Fast-food restaurant meals are not really commodities. If I'm in a mood for, say, a McDonald's cheeseburger, there is no other vendor I can get it from[0], so I'm going to suffer through the kiosk experience. It's calibrated to be just about bearable enough that I'm not going to skip the meal because of it.
Everything seems to become more and more like this, in every market - burgers, fridges, cars, phones, webapps, everything. As annoying and abusive as possible without making it a deal-breaker, offered on a supplier-driven market, so the non-annoying, non-abusive alternatives don't exist.
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[0] - Yes, Burger King next door may have similar cheeseburgers, but they feel and taste different enough to be non-substitutable. But even if, guess what, they also have those stupid kiosks.