Whenever I get my sims to go the any cafe in Winderburg and have them order coffee (both here and to go orders) the cafe itself is always crowded with other sims ordering at the same time and the act...
Ideas
Try going to the cafe and not ordering or queuing up any other actions. Your sim may then autonomously buy a coffee and collect it.
That is the only method I have found to buy coffee in a crowded cafe. The only other way that works for me is to get there when it’s still empty and buy immediately so you are first in the queue.
Hope that helps.
I tried what you suggested and let my sim order autonomously. He ordered food first not coffee, but eventually he ordered coffee for himself. It didnt take long like it would if i did it myself, but he didn't sit down to drink it, and the cup was floating in the air when he was done, kind of like another issue in my game with the stalls from seasons.