I wouldn't say that we actually pick-out what we are going to have at a restaurant, but we do certainly look at the menus to help us decide where to eat. Of course, while doing that we will often spot something that we say "We'll have to try that". Also, some places we just have to have our favorites. For example, when we go to YSH we know it going to be the filet. But even then we don't really make a decision until we are seated and looking over the menu again. Sometimes the restaurant is having a special that sounds good and we'll change our mind.