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Not usually.
The waiter is likely to ask you if you're ready to order after you've read the menu: "¿Está listo para ordenar?"/"¿Están listos para ordenar?"
But the waiter could also say "¿Puedo tomar su orden?" (May I take your order?)/"¿desea(n) ordenar?" (Would you like to order?)...
A customer would be likely to say "¿Me puede tomar la orden por favor?" (Would you take my order please?) / "¿Puedo ordenar?" (May I order now?)...
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