I think for many places, all you need to do is wait in line. As a non-Japanese speaker, I've walked into restaurants off the street with no issue. Many will have displays/pictures of their food right outside the entrance and it helps in case you need to communicate to the wait staff. Comparing to when I first traveled to Japan 10+ years ago, English menus/signage is more common now. While not 100% accurate, Google Translate and similar apps like Waygo can help translate the non-English menus. They certainly helped me finding out daily/seasonal specials in a few restaurants.