Not if the car is stopped. Here's how it should work:
park in a "drive-thru" stall
scan QR code specific to that stall (optional - connect to wifi at the stall)
enter order through a simple webapp
worker brings order out
If you want to talk to someone, walk inside, no need for a drive-thru window at all. That's basically how the old drive-ins worked, adjusted for modern tools.