For drive thrus, I prefer that the cashier handles the card. During most of 2020 and 2021, the common case was that the cashier would meet me halfway with the payment terminal. I found it always awkward. The only place that does this currently around here is Chick-fil-A, but they take orders and payment from roaming employees in the drive thru lanes in advance of getting to the counter. The terminals do support contactless payments.