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The Americans With Disabilities Act generally requires businesses, including food establishments, to modify policies to permit service animals to accompany their disabled handler wherever the general public are allowed. The general rule of thumb where food is involved is that where special clothing is not required a service animal must be permitted. Where special clothing is required, such as food preparation areas, a service animal may be excluded and in fact must be excluded if necessary to comply with health statutes or ordinances.
Since a typical patron of a restaurant isn't asked to don a hairnet, latex gloves and an apron while in the dining area of the establishment, a service animal (including a guide dog) should be permitted to accompany a disabled handler there.