Yes, it is annoying as all get out. McDonald's is the only place it has ever happened to me, as if their cuisine is so cooked-to-order you have to wait.
The McDonald's closes to me has a couple of reserved parking spots for "Customers Waiting". That, believe it or not, is an improvement. It is a very busy place on a small lot. There is no logical place to "pull forward" without being in the way of twenty other cars. I once ended up circling the building about twelve times before I realized the fat kid with a sack standing in the middle of the street was looking for me.