At Narcoosee's lounge, we've never had a reservation and they have told us we can order from the regular menu. (have to remember that cheesecake next time!)
We have done the Nomad Lounge! The atmosphere is wonderful (check out all of the travel questions around the trim of the ceiling, and the flags with travel quotes on them hanging from above the bar!!) Even the menu is like a book, you really need to pay attention to it and read it through. It talks about the history of how many of the things we see in Animal Kingdom came to be.
We tried the bread service, which was only okay, nothing like Sanaa. It was really nice to sit, relax, and enjoy a nice glass of wine there, though!! I highly recommend trying it!