seems there are a couple of options, the base of which is:

A better, safer fast-food model in these areas are restaurants and bars with sit-down options that contribute to walkable neighborhoods, he said, or on the first floor of multi-floor buildings.

and Charlotte, a city in North Carolina, is doing this, which is interesting:

However, the Charlotte City Council recently approved new Chick-fil-A and Bojangles drive-thrus near public transit stations.

You still wouldn’t need to go inside the building. You can park and have someone come take your order like the old style drive ins, or even order ahead of time (app or mobile website) and park and just wait for your food to be brought to your car. Can still have the cost reduction of not having seating without all the drawbacks of the drive thru.