For years I ordered the same at McDonalds. They had numbers back then for each menu, which helped at least to order anything. I picked the number which was the easiest to say. One time I was so angry for not being able to order what I really want I just said „fuck it“ to myself and ordered something else. For my luck the person taking my order was very patient and kind. It felt like a success and helped to try it more often. I still struggle with ordering but it is less of a deal now, if a waiter or anyone else has to wait for me.