BART to a restaurant took over an hour. 9 minute walk to the stop, 12 minute wait for the train, 30 minute train ride, 15 minute walk. Even in the best case scenario of 0 train time, that's 19 minutes of walking.
The restaurant had a huge wait, so I used Uber to get back to where I was staying. 1 minute wait, 19 minute drive.
The Uber trip cost $10 more than BART for two people. I don't know how you value your time, but $10 for 50 minutes of time for two people is always worth it.