Note you will still have to walk over to the parking garage to catch an Uber if you get UberX, but UberXL or the other premium car types will pick you up curbside which should save a few minutes and make things easy for you. Sometimes it does take a bit longer than it used to to get a driver these days though.

Anyway, anywhere in Millbrae should fit your needs. There are dozens of good Asian restaurants there within a few miles of the airport, and it's hard to recommend one for you without knowing what you want/like...