Is there any evidence that customers would want that? Just because you can do something doesn't mean you should
I personally hate using self-checkout/self-ordering kiosks so I am surprised that others actually prefer doing these things without there being a carrot such as "faster" or "cheaper".
I primarily use the touchscreen at McDonald's when I suspect the cashier doesn't speak English.
I've never had an issue with a table-service restaurant! (Except when I can't speak the local language.)
If they really were lonely and craving human interactions wouldn't they just... talk to the human that's behind the counter ?
I feel like people use these screens exactly for the opposite reason: aka avoiding human interactions