I actively seek out such establishments because I'm an introvert and I don't want to talk to people. Japan is a paradise in this way... an extremely large number of restaurants do not require interacting with a human to place your order.
As a customer of McDonalds in both countries: the counter is much better in Japan, especially now.
I was always proud of the American stores having lots of nice napkins, sauces, etc for self-service but we lost that years ago.
I'm the same, although I understand OP's sentiment to a degree. I also like no interaction with someone who is potentially or visibly sick and contagious. That is why I never stand in the service line at the grocery store. It's always self serve only.