Just by coincidence I drove up to McDonald's window, ordered "one large coffee, CREAM ONLY, light, NO SUGAR". I was just about to exit the mall area when I took a taste of my coffee. It was light and sweet. Turned around, reordered, telling the cashier that it was to replace the coffee that was no prepared correctly. I got to the cashier window, not the server window and was handed a coffee, prepared correctly and a COUPON for a free coffee at a later date. Can't beat that. My total bill was $1.06 so I have been comped for future purchase at 100%. If McDonald's can do it, any place can do it. And no, I didn't ask.
I actually got mad at DH a few weeks ago, because he picked up McDonald's, and didn't check the order - like it's ever been right. Sent him back, (asked for no condiments, receipt said no condiments, burger had all condiments), he tried again, and that goodness he was watching, because the employee was loading it up with condiments again.