Have you ever watched a person with vision challenges using VoiceOver with the speed cranked up? I bet they could absorb the info they need to know about a menu before the average reader could, even before any hierarchical organization is exposed to the text-to-speech process. The visual hierarchical and keyword navigation you describe is just what I'm talking about with a voice interface, too.
Just yesterday a colleague I was pairing with was VoiceOvering JSON packed with API keys and stack traces. I, conversely, have many times stood with the fridge door open trying to find something that was plainly front and center. Of course, the answer for many things may be a combination of both hearing and vision.
I also wonder if this easily navigable menu you are thinking of is already cognitively mapped in your mind, and you know what to look for. What if the menu is in a foreign or second language, that the voice assistant could translate for you? Or is a completely foreign-to-you cuisine, or just creatively organized in a way you aren't used to, like by seasonality, emotion or geography? I've sat and stared at some dense menus, that I've had to reread multiple times to remember just a subset of the items. In the end I asked the waiter something like in my example: "something with shrimp" or "what do you like?"
I'm not so sure about the things you say will never or always be, and I don't even consider myself an optimist. Finally, thanks for taking this ride with me, it's definitely made me consider more things!