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I have never heard of someone doing that tbh, this is the first time.

You can get any Uber driver to do it for you if you offer to buy them food too and do it off the books.

I didn't say I doubted it was possible lol, just that I had never heard of anyone doing it.

You just do a ride with two stops, one at the restaurant, and ask them to wait. It's not remotely clandestine or complicated.