My social anxiety is only moderate, and for me eating in a restaurant is perhaps one of my favourite ways to have interactions.
Unlike party events or 'trying new things' events, It's an experience where I can know in advance how it will work and who will be there. And I love food.
The best part for me is that it's on a fixed schedule - a meal has a natural limit in duration so I know when it will be time to leave and that I won't be judged for it, because leaving is what everyone is expected to do.
What about restaurants makes you feel the way you do?