Yeah, QR codes should come at a minimum with a WiFi password written on them exactly because of this. Even better would be not to even bother with all of that but it's easy for owners to fall for grifters selling "the future" to them.
If the restaurant isn't smart enough to compose an HTML menu which is very friendly with mobile devices, then they should not be using QR codes.
If you're forcing me to look at your menu on my tiny screen, optimise for that. Do !not! optimize for fricking print when you're not going to give me the printed version! Grrrrrmbl.