Yes, Goofy's Kitchen is the only Character Dining that has characters for dinner, and the only character dining for lunch is with Princesses at Ariels grotto in DCA.
Yes. The last time we went Chip and Dale and Minnie went table to table and there was a photo op with Goofy before entering the restaurant. We've had other characters in the past as well, but I'm not sure how often they change it up anymore.