I struggle with ordering food at a restaurant

I struggle with ordering food at a restaurant As a rising high school freshman it’s not very common that waiters/waitresses see someone stutter when trying to order. I contemplate every time I see a menu as to what I can get that I don’t have to change so it can be easier to say and maybe even go to the bathroom so someone else can do it for me. I have taken up pointing at the menu and sitting at the end of the table where they will stand to take your order but when I’m at fast food and I have to speak to them with no menu I can’t it’s the pressure build up and knowing that they are waiting for me to say something and that they are in a rush. Every time I go to any type of restaurant (I go often) I always worry about it and will always tell someone sitting next to me what I am getting just it case I get into a stuttering fit. I tell myself that I can do it and I’ve done it before which calms me down and relaxes me but as soon as I see the waiter/waitress i go right back to panic.