We get in there, he is weird to the wait staff like a vampire that needs to be invited inside because he is convinced they are closing right then.
It is ok. We all get him to be comfortable eventually. The whole bunch is there, we have a 'normal' dinner.
(Whole bunch at the time: me, older brother, younger brother, Dad, Stepmom, my husband, older brother's wife, and older brother's kids who were under 18 and under 10, respectively.)